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Modular universal unit for a snake-like robot and reconfigurable robots
Ye ZL(叶长龙); Ma SG(马书根); Li B(李斌); Wang YC(王越超)
Department机器人学研究室
Source PublicationAdvanced Robotics
ISSN0169-1864
2009
Volume23Issue:7-8Pages:865-887
Indexed BySCI ; EI
EI Accession number20092912200119
WOS IDWOS:000267818800006
Contribution Rank1
KeywordModular Universal Unit Snake-like Robot Reconfigurable Robot Kinematic Model Locomotion
AbstractA modular universal unit (MUU) is developed for snake-like robots, which has 3 d.o.f. with a series of passive rollers around its cylindrical shell. Among those d.o.f., pitching and yawing are actuated by means of differential gears to accomplish a large ratio of propulsion to mass. The series of passive rollers around the cylindrical aluminum shell of the MUU form another large wheel that can be used as a driving wheel of mobile robots. The snake-like robot composed of those MUUs has more powerful propulsion and higher mobility. By connecting MUUs in different forms, we can also realize a connected mobile platform or a manipulator in addition to a snake-like robot. Owing to it having 3 d.o.f., two or more MUUs can be connected to make up many mobile robots or form a manipulator that exhibits high mobility and agility. Some typical reconfigurable robots composed of these MUUs are analyzed for locomotion control. Finally, the locomotion experiments and simulations are given to show the characteristics of this MUU.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectRobotics
WOS KeywordSYSTEM ; LOCOMOTION ; DESIGN
WOS Research AreaRobotics
Citation statistics
Cited Times:5[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7379
Collection机器人学研究室
Affiliation1.State Key Laboratory on Robotics, Shenyang Institute of Automation, Shenyang 110016, China
2.Department of Robotics, Ritsumeikan University, Kusatsu 525-8577, Japan
3.Shenyang Institute of Aeronautical Engineering, Shenyang 110034, China
Recommended Citation
GB/T 7714
Ye ZL,Ma SG,Li B,et al. Modular universal unit for a snake-like robot and reconfigurable robots[J]. Advanced Robotics,2009,23(7-8):865-887.
APA Ye ZL,Ma SG,Li B,&Wang YC.(2009).Modular universal unit for a snake-like robot and reconfigurable robots.Advanced Robotics,23(7-8),865-887.
MLA Ye ZL,et al."Modular universal unit for a snake-like robot and reconfigurable robots".Advanced Robotics 23.7-8(2009):865-887.
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