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题名: A dynamic shape-shifting method for a transformable tracked robot
作者: Li N(李楠) ; Ma SG(马书根) ; Li B(李斌) ; Wang MH(王明辉) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
会议日期: December 14-18, 2010
会议地点: Tianjin, China
会议主办者: IEEE Robotics and Automation Society; Hebei University of Technology; Tianjin University of Technology; Tianjin Association for Science and Technology
会议录: 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, NJ
出版日期: 2010
页码: 466-471
收录类别: EI
ISBN号: 9781424493173
关键词: Biomimetics ; Dynamic analysis ; Energy utilization ; Friction ; Robotics
摘要: The reconfiguration is always an important issue for a transformable robot, Amoeba-II. In the shape-shifting process, the friction between the tracks and the ground generally makes it difficult for the robot to finish the transformation and it also consumes much energy. To solve the configuration problem, this paper proposes a dynamic shape-shifting approach for the transformable tracked robot, Amoeba-II. It can utilize a part of the friction to propel the shape-shifting by the reliable control of the track rotation. Based on the analysis of the dynamic model, the torque can be distributed to each motor of the robot more evenly to avoid the excessive consumption on a particular motor by adjusting the speed of the shape-shifting motion and the driving velocities of the tracks. Besides, this approach can reduce the energy consumption in the shape-shifting process. The space limitation also makes it necessary to analyze the required space during the shape-shifting process. The simulations based on the dynamic analysis show that the dynamic shape-shifting is more feasible and more impactful for the transformable robot. © 2010 IEEE.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8473
Appears in Collections:机器人学研究室_会议论文

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