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基于转向构型的可变形机器人直线转向方法研究
Alternative TitleThe Research of Shape-shifting Robot Turning Manners in Line Configuration with Turning-configuration Algorithm
常健; 李斌; 王聪; 张国伟
Department机器人学研究室
Conference Name11th World Congress on Intelligent Control and Automation (WCICA 2014)
Conference DateJune 29 - July 4, 2014
Conference PlaceShenyang, China
Source PublicationProceeding of the 11th World Congress on Intelligent Control and Automation
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2014
Pages519-524
Indexed ByEI ; CPCI(ISTP)
EI Accession number20152600977848
WOS IDWOS:000393066200091
Contribution Rank1
ISBN978-1-4799-5825-2
Keyword可变形机器人 直线构型 转向构型 转向
Abstract可变形机器人AMOEBA-I 是一种具有搜救能力的机器人,能够适应各种复杂的搜救环境。AMOEBA-I 的直线构型能够通过狭小空间且具有良好的越障性,为了提高其直线构型的环境适应性,提出一种基于转向构型的可变形机器人直线构型转向方法,对转向构型进行定义,分析由直线构型到转向构型的变换过程及机器人采用转向构型完成转向的过程。建立数学模型,研究其运动学及动力学,计算牵引力。最后通过实验也仿真的形式证明了方法的有效性。
Other AbstractThe shape-shifting robot AMOEBA-I is the rescue-researching robot that can adapt complex environment with different configurations. The robot with line configuration can pass through the narrow space and has the better ability of obstacles. In order to improve the environment adaptability of the robot in line configuration, the turning algorithm is proposed based on the turning-shape algorithm. The turning-shape has been defined and the process of transformation between L shape and other shapes are analyzed. By establishing the mathematical model and researching the kinematics and dynamics, we can compute the driving force and infer the force of the motors needed. Finally, the effective and previous algorithms have been proved by experiment and simulation. 
Language中文
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/15388
Collection机器人学研究室
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Science, Shenyang, Liaoning, China
Recommended Citation
GB/T 7714
常健,李斌,王聪,等. 基于转向构型的可变形机器人直线转向方法研究[C]. Piscataway, NJ, USA:IEEE,2014:519-524.
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