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Reconfiguration planning for wheel-manipulator robots
Hu YN(胡亚南); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
作者部门机器人学研究室
会议名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期June 8-12, 2015
会议地点Shenyang, China
会议录名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码529-534
收录类别EI ; CPCI(ISTP)
EI收录号20161402187664
WOS记录号WOS:000380502300102
产权排序1
ISSN号2379-7711
ISBN号978-1-4799-8730-6
关键词Reconfiguration Planning Wheel-manipulator Robot Perfect Matching
摘要This paper presents a reconfiguration planning method for a mobile type modular reconfigurable robot system, which is composed of wheel-manipulator robots. The wheel-manipulator robots can either locomote autonomously as individual modules or assemble into various group configurations with different locomotion capabilities. Through reconfiguration, they are capable of adapting to different tasks or environments. Given a goal configuration, a reconfiguration is realized by the movement of the individual modules. The main difficulty of the reconfiguration planning problem is that the goals in the goal configuration for the respective modules are unknown, which are required for the motion planning of the modules. The proposed method is composed of three parts. Firstly, the transition states of the involved modules of a configuration are defined, based on which the reconfiguration process is decomposed into three steps. Secondly, the goals for the respective modules are determined by solving an assignment problem. Thirdly, the motions of the modules are generated, which take the kinematics of the robots into account and are collision-free. Simulation results demonstrate the feasibility and the efficiency of the method.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17480
专题机器人学研究室
作者单位1.University of Chinese Academy of Sciences, Beijing, China
2.Department of Robotics, Ritsumeikan University, Kusatsu-Shi, Japan
3.State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences, Shenyang, China
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Hu YN,Ma SG,Li B,et al. Reconfiguration planning for wheel-manipulator robots[C]. Piscataway, NJ, USA:IEEE,2015:529-534.
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