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题名: Kinematics analysis of morphing process in multi-module robot systems
作者: 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: Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
会议录出版者: IEEE
会议录出版地: Piscataway, USA
出版日期: 2010
页码: 6562-6566
收录类别: CPCI(ISTP) ; EI
ISBN号: 9781424467129
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.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10494
Appears in Collections:机器人学研究室_会议论文

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