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Analysis on self-morphing process of self-reconfigurable modular robot
Fei YQ(费燕琼); Zhu YL(朱跃梁); Xia P(夏平)
作者部门机器人学研究室
关键词Self-morphing Self-reconfigurable Modular Motion Space
发表期刊International Journal of Advanced Robotic Systems
ISSN1729-8806
2009
卷号6期号:3页码:215-222
收录类别SCI ; EI
EI收录号20104213294619
WOS记录号WOS:000285572100007
产权排序1
摘要The self-reconfigurable modular robot consists of many identical modules. By connecting to/disconnecting from other modules, the whole structure of the robot can transform into arbitrary other configurations. First, the lattice-type self-reconfigurable modular robot is proposed and its disconnected/connected mechanism is analyzed, which can finish self-morphing action. Second, the basic configuration of the module is analyzed with the eigenvector matrix. The motion rules are proposed. Third, the possible motion space is described with the geometric feature of modules which is effective for performing the self-morphing process. Then, the selfmorphing motion process is described with the driving function and the adjacency matrix which is useful to solve the computation problem and optimize the motion paths of the robot during the self-reconfigurable morphing process. Final, an experiment of three-module motion and a simulation of multi-module's self-morphing process are shown to prove that the above analyses are effective.
语种英语
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被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/10619
专题机器人学研究室
作者单位1.Research Institute of Robotics, Shanghai Jiaotong University, Dongchuan Road 800, Shanghai 200240, China
2.State Key Laboratory of Robotics, China
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Fei YQ,Zhu YL,Xia P. Analysis on self-morphing process of self-reconfigurable modular robot[J]. International Journal of Advanced Robotic Systems,2009,6(3):215-222.
APA Fei YQ,Zhu YL,&Xia P.(2009).Analysis on self-morphing process of self-reconfigurable modular robot.International Journal of Advanced Robotic Systems,6(3),215-222.
MLA Fei YQ,et al."Analysis on self-morphing process of self-reconfigurable modular robot".International Journal of Advanced Robotic Systems 6.3(2009):215-222.
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