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题名: Cooperative Negotiation and Control Strategy of A Shape-shifting Robot
作者: Li B(李斌) ; Ma SG(马书根) ; Liu TL(刘同林) ; Liu JG(刘金国)
作者部门: 机器人学研究室
会议名称: IEEE International Workshop on Safety, Security and Rescue Robotics
会议日期: October 21-24, 2008
会议地点: Sendai, JAPAN
会议主办者: IEEE
会议录: 2008 IEEE INTERNATIONAL WORKSHOP ON SAFETY, SECURITY & RESCUE ROBOTICS
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2008
页码: 53-57
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-2031-5
关键词: shape-shifting robot ; cooperation ; negotiation ; emotion
摘要: The complex environment requires mobile robots to possess high capability of obstacle negotiation. Cooperative negotiation is proposed to endow the AMOEBA-I robot with capability of obstacle negotiation and to reinforce the adaptability of the robot in unstructured environment. A mathematical model is established. The relationship between the height that the robot can overcome and angle with gravity offset's variation is analyzed theoretically. The maximum heights that conventional negotiation method can reach and cooperative negotiation method can reach are compared. Control strategy of autonomous negotiation is presented. The emotion model is established and the robot's control strategy is fine-tuned according to the change of emotion. Experimental results prove the validity of the cooperative negotiation method and autonomous control strategy.
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/173321/8619
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
李斌; 马书根; 刘同林; 刘金国.Cooperative Negotiation and Control Strategy of A Shape-shifting Robot.见:IEEE .2008 IEEE INTERNATIONAL WORKSHOP ON SAFETY, SECURITY & RESCUE ROBOTICS,NEW YORK,2008,53-57
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