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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)
作者部门机器人学研究室
关键词Shape-shifting Robot Steering Mobility Quantitative Manner
发表期刊CHINESE JOURNAL OF MECHANICAL ENGINEERING
ISSN1000-9345
2016
卷号29期号:1页码:21-32
收录类别SCI ; EI ; CSCD
EI收录号20160601889123
WOS记录号WOS:000367868100003
CSCD记录号CSCD:5615726
产权排序1
资助机构National Key Technology R&D Program of China [2014BAK12B01]
摘要The 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.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Engineering, Mechanical
关键词[WOS]SELF-RECONFIGURATION ; URBAN SEARCH ; RESCUE
WOS研究方向Engineering
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/17618
专题机器人学研究室
通讯作者Chang J(常健)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
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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