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题名: Analysis on self-morphing process of self-reconfigurable modular robot
作者: 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
刊名: International Journal of Advanced Robotic Systems
ISSN号: 1729-8806
出版日期: 2009
卷号: 6, 期号:3, 页码:215-222
收录类别: SCI ; EI
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
WOS记录号: WOS:000285572100007
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/10619
Appears in Collections:机器人学研究室_期刊论文

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文件名: Analysis on self-morphing process of self-reconfigurable modular robot.pdf
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