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Kinematics analysis of morphing process in multi-module robot systems
Fei YQ(费燕琼); Wang Y(王永)
作者部门机器人学研究室
会议名称2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
会议日期July 7-9, 2010
会议地点Jinan, China
会议录名称Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
出版者IEEE
出版地Piscataway, USA
2010
页码6562-6566
收录类别EI ; CPCI(ISTP)
EI收录号20104313325280
WOS记录号WOS:000295959507055
产权排序1
ISBN号978-1-4244-6712-9
关键词Intelligent Control Linear Transformations Modular Robots
摘要The multi-module robot systems consist of a set of homogeneous modules. In the paper, seven connecting types of cuboid modules are analyzed. For deriving the transformation matrix of each connecting type, the concepts of basic group are proposed. Then, the geometric relationships of each connecting type are derived with the group theory. With the rotary motion around the neighboring module, the morphing process from a quadruped to two-leg modular robot is shown. For the automatic generation of the kinematics of each modular robot, an approach has been adopted by a series of elemental matrixes multiplication with product of matrix exponentials. Examples of the kinematics on a quadruped and a two-leg modular robot are given to demonstrate the applicability of the proposed methods generating kinematics. © 2010 IEEE.
语种英语
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10494
专题机器人学研究室
通讯作者Fei YQ(费燕琼)
作者单位1.Research Institute of Robotics, Shanghai Jiao Tong University, Dongchuan Road 800, Shanghai 200240, China
2.State Key Laboratory of Robotics, China
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Fei YQ,Wang Y. Kinematics analysis of morphing process in multi-module robot systems[C]. Piscataway, USA:IEEE,2010:6562-6566.
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