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Kinematics analysis of morphing process in multi-module robot systems
Fei YQ(费燕琼); Wang Y(王永)
Department机器人学研究室
Conference Name2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
Conference DateJuly 7-9, 2010
Conference PlaceJinan, China
Source PublicationProceedings of the World Congress on Intelligent Control and Automation (WCICA)
PublisherIEEE
Publication PlacePiscataway, USA
2010
Pages6562-6566
Indexed ByEI ; CPCI(ISTP)
EI Accession number20104313325280
WOS IDWOS:000295959507055
Contribution Rank1
ISBN978-1-4244-6712-9
KeywordIntelligent Control Linear Transformations Modular Robots
AbstractThe 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.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10494
Collection机器人学研究室
Corresponding AuthorFei YQ(费燕琼)
Affiliation1.Research Institute of Robotics, Shanghai Jiao Tong University, Dongchuan Road 800, Shanghai 200240, China
2.State Key Laboratory of Robotics, China
Recommended Citation
GB/T 7714
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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