SIA OpenIR  > 机器人学研究室
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)
Indexed BySCI ; EI ; CSCD
EI Accession number20160601889123
WOS IDWOS:000367868100003
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.
WOS HeadingsScience & Technology ; Technology
WOS SubjectEngineering, Mechanical
WOS Research AreaEngineering
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
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.
Files in This Item: Download All
File Name/Size DocType Version Access License
Evaluation Method on(1274KB)期刊论文作者接受稿开放获取ODC PDDLView Download
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Chang J(常健)]'s Articles
[Li B(李斌)]'s Articles
[Wang C(王聪)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Chang J(常健)]'s Articles
[Li B(李斌)]'s Articles
[Wang C(王聪)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Chang J(常健)]'s Articles
[Li B(李斌)]'s Articles
[Wang C(王聪)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Evaluation Method on Steering for the Shape-shifting Robot in Different Configurations.pdf
Format: Adobe PDF
All comments (0)
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.