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Alternative TitleSteering for a transformable robot with heterogeneous modules in narrow space
王明辉; 马书根; 李斌; 李楠
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20152300924818
Contribution Rank1
Funding Organization国家自然科学基金资助项目(61273345)
Keyword异构模块 直线构型 可变形机器人 转向控制 狭窄环境
Other AbstractAiming at the capability of passing through a narrow space for a transformable robot with heterogeneous modules, a control method for steering in a narrow space is proposed on the basis of the optimal energy-consumption through analyzing the steering performance in line configuration and the safe range in narrow space. The kinematic and dynamic models for robot steering in line configuration are established, and then the relationship between steering performance and control parameters such as the configuration angle and driving velocity is constructed. With the goal of minimal energyconsumption, the kinematic parameters of steering in line configuration are selected and adjusted under the constraints of safe steering range. The influence of the motion control parameters on the steering performance is verified by simulation, and the features and advantages of various steering methods and steering control parameters are presented.
Citation statistics
Document Type期刊论文
Recommended Citation
GB/T 7714
王明辉,马书根,李斌,等. 异构模块型可变形机器人狭窄空间转向性能研究[J]. 机器人,2015,37(2):161-167.
APA 王明辉,马书根,李斌,&李楠.(2015).异构模块型可变形机器人狭窄空间转向性能研究.机器人,37(2),161-167.
MLA 王明辉,et al."异构模块型可变形机器人狭窄空间转向性能研究".机器人 37.2(2015):161-167.
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