ANALYSIS OF TIPOVER STABILITY FOR NOVEL SHAPE SHIFTING MODULAR ROBOT
文献类型：期刊论文
| 作者 | Liu JG(刘金国) ; Wang YC(王越超); Ma SG(马书根); Li B(李斌)
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| 刊名 | Chinese Journal of Mechanical Engineering
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| 出版日期 | 2006 |
| 卷号 | 19期号:2页码:181-186 |
| 关键词 | Reconfigurable modular robot Shape shifting robot Stability pyramid Tipover stability index Unstructured environment |
| ISSN号 | 1000-9345 |
| 产权排序 | 1 |
| 中文摘要 | A novel three-module robot has been introduced. It can change its configuration to adapt to the uneven terrain and to improve its tipover stability. This three-module tracked robot has three kinds of symmetry configuration. They are line type, triangle type, and row type. After the factors and the countermeasures of mobile robot's tipover problem are analyzed, stability pyramid and tipover stability index are proposed to globally determinate the mobile robot's static stability and dynamic stability. The shape shifting robot is tested by this technique under the combined disturbance of pitch, roll and yaw in simulation. The simulation result shows that this technique is effective for the analysis of mobile robot's tipover stability, especially for the reconfigurable or shape shifting modular robot. Experiments on three symmetry configurations are made under unstructured environments. The environment experiment shows the same result as that of the simulation that the triangle type config... |
| 收录类别 | EI ; CSCD |
| 资助信息 | This project is supported by National Hi-Tech Research and Development Program of China(863 Program, No.2001AA422360) Chinese Academy of Sciences Advanced Manufacturing Technology R&D Base Foundation, Chrna(No.F000112). |
| 语种 | 英语 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7312]  |
| 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 | Liu JG,Wang YC,Ma SG,et al. ANALYSIS OF TIPOVER STABILITY FOR NOVEL SHAPE SHIFTING MODULAR ROBOT[J]. Chinese Journal of Mechanical Engineering,2006,19(2):181-186. |
| APA | Liu JG,Wang YC,Ma SG,&Li B.(2006).ANALYSIS OF TIPOVER STABILITY FOR NOVEL SHAPE SHIFTING MODULAR ROBOT.Chinese Journal of Mechanical Engineering,19(2),181-186. |
| MLA | Liu JG,et al."ANALYSIS OF TIPOVER STABILITY FOR NOVEL SHAPE SHIFTING MODULAR ROBOT".Chinese Journal of Mechanical Engineering 19.2(2006):181-186. |
入库方式： OAI收割
来源：沈阳自动化研究所
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