Center-configuration selection technique for the reconfigurable modular robot
文献类型：期刊论文
| 作者 | Liu JG(刘金国) ; Wang YC(王越超); Li B(李斌); Ma SG(马书根); Tan DL(谈大龙)
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| 刊名 | Science in China Series F: Information Sciences
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| 出版日期 | 2007 |
| 卷号 | 50期号:5页码:697-710 |
| 关键词 | reconfigurable robot modular robot center-configuration configuration network reconfiguration cost matrix center-configuration coefficient |
| ISSN号 | 1009-2757 |
| 产权排序 | 1 |
| 中文摘要 | The reconfigurable modular robot has an enormous amount of configurations to adapt to various environments and tasks. It greatly increases the complexity of configuration research in that the possible configuration number of the reconfigurable modular robot grows exponentially with the increase of module number. Being the initial configuration or the basic configuration of the reconfigurable robot, the center-configuration plays a crucial role in system’s actual applications. In this paper, a novel center-configuration selection technique has been proposed for reconfigurable modular robots. Based on the similarities between configurations’ transformation and graph theory, configuration network has been applied in the modeling and analyzing of these configurations. Configuration adjacency matrix, reconfirmation cost matrix, and center-configuration coefficient have been defined for the configuration network correspondingly. Being similar to the center-location problem, the center configuration has been selected according to the largest center-configuration coefficient. As an example of the reconfigurable robotic system, AMOEBA-I, a three-module reconfigurable robot with nine configurations which was developed in Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS), has been introduced briefly. According to the numerical simulation result, the center-configuration coefficients for these nine configurations have been calculated and compared to validate this technique. Lastly, a center-configuration selection example is provided with consideration of the adjacent configurations. The center-configuration selection technique proposed in this paper is also available to other reconfigurable modular robots. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Information Systems |
| 研究领域[WOS] | Computer Science |
| 关键词[WOS] | LOCOMOTION ; MACHINES ; DESIGN ; SYSTEM |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000250557500004 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7322]  |
| 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,Li B,et al. Center-configuration selection technique for the reconfigurable modular robot[J]. Science in China Series F: Information Sciences,2007,50(5):697-710. |
| APA | Liu JG,Wang YC,Li B,Ma SG,&Tan DL.(2007).Center-configuration selection technique for the reconfigurable modular robot.Science in China Series F: Information Sciences,50(5),697-710. |
| MLA | Liu JG,et al."Center-configuration selection technique for the reconfigurable modular robot".Science in China Series F: Information Sciences 50.5(2007):697-710. |
入库方式： OAI收割
来源：沈阳自动化研究所
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