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题名: Mobility for a special configuration of a shape-shifting robot in urban terrain
作者: Li B(李斌) ; Ma SG(马书根) ; Wang MH(王明辉) ; Liu TL(刘同林)
作者部门: 机器人学研究室
会议名称: IEEE International Workshop on Safety, Security & Rescue Robotics (SSRR)
会议日期: November 3-6, 2009
会议主办者: IEEE
会议录出版者: IEEE
会议录出版地: New York
出版日期: 2009
页码: 1-6
收录类别: EI
摘要: The work in the complicated environment requires the robot to possess the better mobility, which is the basis that the robot can complete the task successfully and ensure itself security. To improve the adaptability in the unstructured environments, the aim is the mobility of a special d-configuration of AMOEBA-I, and the cooperative turning and cooperative negotiation of the d-configuration is presented. The capability on the turning and traversing the channel are analyzed theoretically. Also the relationship between the climb height and the location of center of gravity is discussed. The maximum climb heights respectively in the normal negotiation method and cooperative negotiation are compared theoretically. Finally, the experiment in the indoor and outdoor relic environment verifies the mobility of the d-configuration, which satisfies the requirement that the robot can perform the task in the unstructured environments.
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/173321/8776
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; 王明辉; 刘同林.Mobility for a special configuration of a shape-shifting robot in urban terrain.见:IEEE .,New York,2009,1-6
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