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题名: Cooperative reconfiguration between two specific configurations for a shape-shifting robot
作者: Li B(李斌) ; Ma SG(马书根) ; Liu TL(刘同林) ; Wang MH(王明辉)
作者部门: 机器人学研究室
会议名称: 8th IEEE International Workshop on Safety, Security, and Rescue Robotics, SSRR-2010
会议日期: July 26-30, 2010
会议地点: Bremen, Germany
会议录: 8th IEEE International Workshop on Safety, Security, and Rescue Robotics, SSRR-2010
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, NJ
出版日期: 2010
收录类别: EI
ISBN号: 9781424488995
关键词: Mathematical models ; Robotics
摘要: A shape-shifting mobile robot named AMOEBA-I has diverse configurations. Cooperative reconfiguration is presented to improve the robot's reconfigurable ability and adaptability in unstructured environments. Cooperative reconfiguration method is analyzed theoretically. A mathematical model is established correspondingly and the kinematical relations among the three modules during the cooperative reconfiguration are determined. The transformation is implemented between two specific configurations. Then, an evaluation is proposed for AMOEBA-I's cooperative reconfiguration performance. The feature of cooperative reconfiguration methods is compared through the theoretical analysis and experiments. Experimental results prove the validity of the cooperative reconfiguration methods on various grounds.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8620
Appears in Collections:机器人学研究室_会议论文

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