AMOEBA-I: a shape-shifting modular robot for urban search and rescue
文献类型：期刊论文
| 作者 | Li B(李斌) ; Ma SG(马书根); Liu JG(刘金国); Wang MH(王明辉); Liu TL(刘同林); Wang YC(王越超)
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| 刊名 | Advanced Robotics
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| 出版日期 | 2009 |
| 卷号 | 23期号:9页码:1057-83 |
| 关键词 | AMOEBA-I shape shifting unmanned ground vehicle urban search and rescue cooperative control |
| ISSN号 | 0169-1864 |
| 产权排序 | 1 |
| 中文摘要 | This work intends to enhance the mobility and flexibility of a tracked mobile robot through changing its shape in unstructured environments. A shape-shifting mobile robot, AMOEBA-I, has been developed. With three tracked modules, AMOEBA-I has nine locomotion configurations and three of them are symmetrical configurations. The key advantage of this design over other mobile robots is its adaptability and flexibility because of its various configurations. It can change its configuration fluently and automatically to adapt to different environments or missions. A modularized structure of the control system is proposed and designed for AMOEBA-I to improve the fault tolerance and substitutability of the system. The strategies of cooperative control, including cooperative shape shifting, cooperative turning and cooperative obstacle negotiation, have been proposed to improve the capability of shape shifting, locomotion and obstacle negotiation for AMOEBA-I. A series of experiments have been carried out, and demonstrated that such a structure possesses excellent mobility and high flexibility under various urban environments including stairs, a narrow space, an obstacle, uneven debris and an underground garage. Being small, portable, and remotely controlled, AMOEBA-I has potential applications in areas such as urban search and rescue and environment reconnaissance. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | DESIGN ; OPERATIONS ; PROPOSAL ; VEHICLE ; EASE |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000267818900004 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7303]  |
| 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 | Li B,Ma SG,Liu JG,et al. AMOEBA-I: a shape-shifting modular robot for urban search and rescue[J]. Advanced Robotics,2009,23(9):1057-83. |
| APA | Li B,Ma SG,Liu JG,Wang MH,Liu TL,&Wang YC.(2009).AMOEBA-I: a shape-shifting modular robot for urban search and rescue.Advanced Robotics,23(9),1057-83. |
| MLA | Li B,et al."AMOEBA-I: a shape-shifting modular robot for urban search and rescue".Advanced Robotics 23.9(2009):1057-83. |
入库方式： OAI收割
来源：沈阳自动化研究所
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