Network-based reconfiguration routes for a self-reconfigurable robot
文献类型：期刊论文
| 作者 | Liu JG(刘金国) ; Ma SG(马书根); Wang YC(王越超); Li B(李斌)
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| 刊名 | Science in China Series F: Information Sciences
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| 出版日期 | 2008 |
| 卷号 | 51期号:10页码:1532-1546 |
| 关键词 | self-reconfigurable robot modular robot reconfiguration route network-based reconfiguration configuration network |
| ISSN号 | 1009-2757 |
| 产权排序 | 1 |
| 中文摘要 | This paper presents a network-based analysis approach for the reconfiguration problem of a self-reconfigurable robot. The self-reconfigurable modular robot named “AMOEBA-I” has nine kinds of non-isomorphic configurations that consist of a configuration network. Each configuration of the robot is defined to be a node in the weighted and directed configuration network. The transformation from one configuration to another is represented by a directed path with nonnegative weight. Graph theory is applied in the reconfiguration analysis, where reconfiguration route, reconfigurable matrix and route matrix are defined according to the topological information of these configurations. Algorithms in graph theory have been used in enumerating the available reconfiguration routes and deciding the best reconfiguration route. Numerical analysis and experimental simulation results prove the validity of the approach proposed in this paper. And it is potentially suitable for other self-reconfigurable robots’ configuration control and reconfiguration planning. |
| 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] | MODULAR ROBOT ; CONFIGURATION ; LOCOMOTION ; METRICS ; SYSTEM ; SHAPE |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000259676700010 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7381]  |
| 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,Ma SG,Wang YC,et al. Network-based reconfiguration routes for a self-reconfigurable robot[J]. Science in China Series F: Information Sciences,2008,51(10):1532-1546. |
| APA | Liu JG,Ma SG,Wang YC,&Li B.(2008).Network-based reconfiguration routes for a self-reconfigurable robot.Science in China Series F: Information Sciences,51(10),1532-1546. |
| MLA | Liu JG,et al."Network-based reconfiguration routes for a self-reconfigurable robot".Science in China Series F: Information Sciences 51.10(2008):1532-1546. |
入库方式： OAI收割
来源：沈阳自动化研究所
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