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Survey on research and development of reconfigurable modular robots
Liu JG(刘金国); Zhang X(张鑫); Hao, Guangbo
作者部门空间自动化技术研究室
关键词Reconfigurable Modular Robots Characteristics Of Modules Reconfiguration Mechanism Autonomy Level Applications
发表期刊ADVANCES IN MECHANICAL ENGINEERING
ISSN1687-8140
2016
卷号8期号:8页码:1-21
收录类别SCI
WOS记录号WOS:000385216600008
产权排序1
资助机构Basic Research Fund of China Manned Space Engineering ; Key Research Program of the Chinese Academy of Sciences [Y4A3210301] ; National Science Foundation of China [51175494, 61128008, 51575412] ; State Key Laboratory of Robotics Foundation
摘要This article presents a comprehensive survey of reconfigurable modular robots, which covers the origin, history, the state of the art, key technologies, challenges, and applications of reconfigurable modular robots. An elaborative classification of typical reconfigurable modular robots is proposed based on the characteristics of the modules and the reconfiguration mechanism. As the system characteristics of reconfigurable modular robots are mainly dependent on the functions of modules, the mechanical and electrical design features of modules of typical reconfigurable modular robots are discussed in detail. Furthermore, an in-depth comparison analysis is conducted, which encompasses discussions of module shape, module degrees of freedom, module attribute, connection mechanisms, interface autonomy, locomotion modes, and workspace. Meanwhile, many reconfigurable modular robot researches focus on the study of self-X capabilities (i.e. self-reconfiguration, self-assembly, self-adaption, etc.), which embodies autonomy performance of reconfigurable modular robots in certain extent. An evolutionary cobweb evaluation model is proposed in this article to evaluate the autonomy level of reconfigurable modular robots. Although various reconfigurable modular robots have been developed and some of them have been put into practical applications such as search and rescue missions, there still exist many open theoretical, technical, and practical challenges in this field. This work is hopefully to offer a reference for the further developments of reconfigurable modular robots.
语种英语
WOS标题词Science & Technology ; Physical Sciences ; Technology
WOS类目Thermodynamics ; Engineering, Mechanical
关键词[WOS]SELF-RECONFIGURATION ; MULTIMODE LOCOMOTION ; MULTIROBOT SYSTEM ; M-TRAN ; DESIGN ; IMPLEMENTATION ; COOPERATION ; EXPLORATION
WOS研究方向Thermodynamics ; Engineering
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/19373
专题空间自动化技术研究室
通讯作者Zhang X(张鑫)
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.Department of Electrical and Electronic Engineering, School of Engineering, University College Cork, Cork, Ireland
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GB/T 7714
Liu JG,Zhang X,Hao, Guangbo. Survey on research and development of reconfigurable modular robots[J]. ADVANCES IN MECHANICAL ENGINEERING,2016,8(8):1-21.
APA Liu JG,Zhang X,&Hao, Guangbo.(2016).Survey on research and development of reconfigurable modular robots.ADVANCES IN MECHANICAL ENGINEERING,8(8),1-21.
MLA Liu JG,et al."Survey on research and development of reconfigurable modular robots".ADVANCES IN MECHANICAL ENGINEERING 8.8(2016):1-21.
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