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Evaluation Method on Steering for the Shape-shifting Robot in Different Configurations
Chang J(常健); Li B(李斌); Wang C(王聪); Zheng HB(郑怀兵); Li ZQ(李志强)
Department机器人学研究室
Source PublicationCHINESE JOURNAL OF MECHANICAL ENGINEERING
ISSN1000-9345
2016
Volume29Issue:1Pages:21-32
Indexed BySCI ; EI ; CSCD
EI Accession number20160601889123
WOS IDWOS:000367868100003
CSCD IDCSCD:5615726
Contribution Rank1
Funding OrganizationNational Key Technology R&D Program of China [2014BAK12B01]
KeywordShape-shifting Robot Steering Mobility Quantitative Manner
AbstractThe evaluation method on steering is based on qualitative manner in existence, which causes the result inaccurate and fuzziness. It reduces the efficiency of process execution. So the method by quantitative manner for the shape-shifting robot in different configurations is proposed. Comparing to traditional evaluation method, the most important aspects which can influence the steering abilities of the robot in different configurations are researched in detail, including the energy, angular velocity, time and space. In order to improve the robustness of system, the ideal and slippage conditions are all considered by mathematical model. Comparing to the traditional weighting confirming method, the extent of robot steering method is proposed by the combination of subjective and objective weighting method. The subjective weighting method can show more preferences of the experts and is based on five-grade scale. The objective weighting method is based on information entropy to determine the factors. By the sensors fixed on the robot, the contract force between track grouser and ground, the intrinsic motion characteristics of robot are obtained and the experiment is done to prove the algorithm which is proposed as the robot in different common configurations. Through the method proposed in the article, fuzziness and inaccurate of the evaluation method has been solved, so the operators can choose the most suitable configuration of the robot to fulfil the different tasks more quickly and simply.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectEngineering, Mechanical
WOS KeywordSELF-RECONFIGURATION ; URBAN SEARCH ; RESCUE
WOS Research AreaEngineering
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/17618
Collection机器人学研究室
Corresponding AuthorChang J(常健)
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
Recommended Citation
GB/T 7714
Chang J,Li B,Wang C,et al. Evaluation Method on Steering for the Shape-shifting Robot in Different Configurations[J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING,2016,29(1):21-32.
APA Chang J,Li B,Wang C,Zheng HB,&Li ZQ.(2016).Evaluation Method on Steering for the Shape-shifting Robot in Different Configurations.CHINESE JOURNAL OF MECHANICAL ENGINEERING,29(1),21-32.
MLA Chang J,et al."Evaluation Method on Steering for the Shape-shifting Robot in Different Configurations".CHINESE JOURNAL OF MECHANICAL ENGINEERING 29.1(2016):21-32.
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