中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Configuration analysis for reconfigurable modular planetary robots based on MSV and CSM

文献类型:会议论文

作者Wang MH(王明辉); Ma SG(马书根); Li B(李斌); Wang YC(王越超)
出版日期2006
会议名称IEEE/RSJ International Conference on Intelligent Robots and Systems
会议日期October 9-13, 2006
会议地点Beijing, China
关键词reconfigurable modular planetary robot system configuration Module State Vector Configuration State Matrix
页码3191-3196
中文摘要A reconfigurable modular planetary robot system (RMPRS) consists of the parent body and multiple asymmetric wheel-manipulator child-robot modules. The module, which can independently locomote and manipulate, possesses the orientation of posture and the direction of locomotion. The modules have reconfiguration capability so that a group of the modules can construct a variety of configurations. The aim of the robot reconfiguration is to generate better configuration with respect to the directional locomotion adapted to the environment. Module State Vector (MSV) and Configuration State Matrix (CSM) are presented and constructed for representing the asymmetric module and the configurations, and supporting the transformation operation for triggering the elementary motions of the module and the reconfiguration. The algorithm for optimizing the assembly reconfiguration of discrete modules is proposed and the result is evaluated through numerical simulation in an example.
收录类别EI ; CPCI(ISTP)
产权排序1
会议主办者IEEE, RSJ
会议录2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
会议录出版者IEEE
会议录出版地NEW YORK
语种英语
ISBN号978-1-4244-0258-8
WOS记录号WOS:000245452403055
源URL[http://ir.sia.cn/handle/173321/8607]  
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
Wang MH,Ma SG,Li B,et al. Configuration analysis for reconfigurable modular planetary robots based on MSV and CSM[C]. 见:IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, China. October 9-13, 2006.

入库方式: OAI收割

来源:沈阳自动化研究所

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