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题名: Configuration analysis for reconfigurable modular planetary robots based on MSV and CSM
作者: Wang MH(王明辉) ; Ma SG(马书根) ; Li B(李斌) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: IEEE/RSJ International Conference on Intelligent Robots and Systems
会议日期: October 9-13, 2006
会议地点: Beijing, China
会议主办者: IEEE, RSJ
会议录: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 3191-3196
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-0258-8
关键词: reconfigurable modular planetary robot system ; configuration ; Module State Vector ; Configuration State Matrix
摘要: A reconfigurable modular planetary robot system (RMPRS) consists of the parent body and multiple asymmetric wheel-manipulator child-robot modules. The module, which can independently locomote and manipulate, possesses the orientation of posture and the direction of locomotion. The modules have reconfiguration capability so that a group of the modules can construct a variety of configurations. The aim of the robot reconfiguration is to generate better configuration with respect to the directional locomotion adapted to the environment. Module State Vector (MSV) and Configuration State Matrix (CSM) are presented and constructed for representing the asymmetric module and the configurations, and supporting the transformation operation for triggering the elementary motions of the module and the reconfiguration. The algorithm for optimizing the assembly reconfiguration of discrete modules is proposed and the result is evaluated through numerical simulation in an example.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8607
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
王明辉; 马书根; 李斌; 王越超.Configuration analysis for reconfigurable modular planetary robots based on MSV and CSM.见:IEEE .2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12,NEW YORK,2006,3191-3196
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