Reconfiguration planning for wheel-manipulator robots
文献类型：会议论文
| 作者 | Hu YN(胡亚南); Ma SG(马书根) ; Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
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| 出版日期 | 2015 |
| 会议名称 | 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER) |
| 会议日期 | June 8-12, 2015 |
| 会议地点 | Shenyang, China |
| 关键词 | reconfiguration planning wheel-manipulator robot perfect matching |
| 页码 | 529-534 |
| 中文摘要 | This paper presents a reconfiguration planning method for a mobile type modular reconfigurable robot system, which is composed of wheel-manipulator robots. The wheel-manipulator robots can either locomote autonomously as individual modules or assemble into various group configurations with different locomotion capabilities. Through reconfiguration, they are capable of adapting to different tasks or environments. Given a goal configuration, a reconfiguration is realized by the movement of the individual modules. The main difficulty of the reconfiguration planning problem is that the goals in the goal configuration for the respective modules are unknown, which are required for the motion planning of the modules. The proposed method is composed of three parts. Firstly, the transition states of the involved modules of a configuration are defined, based on which the reconfiguration process is decomposed into three steps. Secondly, the goals for the respective modules are determined by solving an assignment problem. Thirdly, the motions of the modules are generated, which take the kinematics of the robots into account and are collision-free. Simulation results demonstrate the feasibility and the efficiency of the method. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISSN号 | 2379-7711 |
| ISBN号 | 978-1-4799-8730-6 |
| WOS记录号 | WOS:000380502300102 |
| 源URL | [http://ir.sia.cn/handle/173321/17480]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Hu YN,Ma SG,Li B,et al. Reconfiguration planning for wheel-manipulator robots[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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