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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)
Conference Name2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
Conference DateJune 8-12, 2015
Conference PlaceShenyang, China
Source Publication2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
Publication PlacePiscataway, NJ, USA
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161402187664
WOS IDWOS:000380502300102
Contribution Rank1
KeywordReconfiguration Planning Wheel-manipulator Robot Perfect Matching
AbstractThis 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.
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Document Type会议论文
Affiliation1.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
Recommended Citation
GB/T 7714
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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