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360botG2 - An improved unit of mobile self-assembling modular robotic system aiming at exploration in real world
Cao YJ(曹燕军); Leng YQ(冷雨泉); Sun JY(孙金云); Zhang Y(张阳); Ge, Weimin
作者部门空间自动化技术研究室
会议名称41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
会议日期November 9-12, 2015
会议地点Yokohama, Japan
会议主办者IEEE Industrial Electonics Society (IES)
会议录名称IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码1716-1722
收录类别EI ; CPCI(ISTP)
EI收录号20162402483120
WOS记录号WOS:000382950701133
产权排序1
ISSN号1553-572X
ISBN号978-1-4799-1762-4
摘要An improved unit module of a novel mobile self-assembling modular robotic system is presented in this paper. Two continuous rotational DoFs are used in each module to implement both valuable self-locomotion and flexible reconfiguration. To achieve efficient exploration, unit module can implement two-dimensional locomotion independently and freely in a range of surface conditions in real world, even in environments with certain terrain challenges. With the help of three active connection mechanisms (ACMs), the module has great potential in assembling and reconfiguration to form complex three-dimensional structures. Preliminary locomotion tests in different environments demonstrate its effective mobility and potential applications for exploration. Several useful and easy realized configurations are explained with simulations at last.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/18718
专题空间自动化技术研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.School of Mechanical Engineering, Tianjin University of Technology, Tianjin, China
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Cao YJ,Leng YQ,Sun JY,et al. 360botG2 - An improved unit of mobile self-assembling modular robotic system aiming at exploration in real world[C]//IEEE Industrial Electonics Society (IES). Piscataway, NJ, USA:IEEE,2015:1716-1722.
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