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Natural Growth-Inspired Distributed Self-Reconfiguration of UBot Robots
Bie, Dongyang1,2; Sajid, Iqbal3; Han JD(韩建达)1; Zhao J(赵杰)4; Zhu YH(朱延河)4
Department机器人学研究室
Source PublicationComplexity
ISSN1076-2787
2019
Volume2019Pages:1-12
Indexed ByEI
EI Accession number20192106940439
Contribution Rank1
Funding OrganizationJoint Research Fund (U1713201) between the National Natural Science Foundation of China (NSFC) and Shenzhen ; State Key Laboratory of Robotics (2018-O10).
AbstractThe decentralized self-reconfiguration of modular robots has been a challenging problem. This work proposed a biological method inspired by the plant growth for the distributed self-reconfiguration of UBot systems. L-systems are implemented to construct target topology, and turtle interpretation is extended to lead the self-reconfiguration process. Parametric reproduction rules introduce the external influence to the reconfiguration process by distributed modules’ local sensing. Each module can move independently to change relative positions, and robotic structures develop in the natural growth style. This leads to a convergent and environmentally sensitive control method for the distributed self-reconfiguration. Reconfiguration processes can converge to desired configuration and are scalable to module numbers by reproducing predefined substructures in principle. The overall performance of the proposed strategy is evaluated with simulations and 11 experiments. Simulation and experimental results turn out to be convergent and environmentally sensitive.
Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24152
Collection机器人学研究室
Corresponding AuthorZhu YH(朱延河)
Affiliation1.The Institute of Robotics and Automatic Information Systems, College of Computer and Control Engineering, and the Tianjin Key Laboratory of Intelligent Robotics, Nankai University, China
2.State key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
3.Department of Mechatronics & Control Engineering, University of Engineering and Technology (UET), Lahore 54890, Pakistan
4.State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, China
Recommended Citation
GB/T 7714
Bie, Dongyang,Sajid, Iqbal,Han JD,et al. Natural Growth-Inspired Distributed Self-Reconfiguration of UBot Robots[J]. Complexity,2019,2019:1-12.
APA Bie, Dongyang,Sajid, Iqbal,Han JD,Zhao J,&Zhu YH.(2019).Natural Growth-Inspired Distributed Self-Reconfiguration of UBot Robots.Complexity,2019,1-12.
MLA Bie, Dongyang,et al."Natural Growth-Inspired Distributed Self-Reconfiguration of UBot Robots".Complexity 2019(2019):1-12.
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