Motion planning for a reconfigurable robot to cross an obstacle
文献类型：会议论文
| 作者 | Wang MH(王明辉) ; Ma SG(马书根); He XY(贺鑫元); Li B(李斌); Wang YC(王越超)
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| 出版日期 | 2006 |
| 会议名称 | IEEE International Conference on Mechatronics and Automation |
| 会议日期 | June 25-28, 2006 |
| 会议地点 | Luoyang, China |
| 关键词 | reconfigurable modular planetary robot vheel-manipulator child-robot cross an obstacle motion planning |
| 页码 | 1291-1296 |
| 中文摘要 | A reconfigurable modular planetary robot system (RMPRS) consists of a parent body and multiple asymmetric wheel-manipulator child-robots. As an agent, the child-robot independently performs locomotion and manipulation. The child-robots have reconfigurable capability so that a group of child-robots are combined to a variety of conflgurations. Moreover, the child-robot gives output in different forms under various constraint conditions from one driving force. Utilizing this characteristic, it can cross an obstacle automatically. But the guiding wheel and the arm have fatal influence on the height of the obstacle that the child-robot can cross. A motion planning method for highly improving the capability of crossing an obstacle for the child-robot is proposed, which makes use of the environment and the posture of arm. The validity of the planning method is demonstrated by the experiments of the physical prototype. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robot & Automat Soc, Shandong Univ, Harbin Engn Univ, Univ Elect Sci & Technol China, IEEE Hong Kong Sect Joint RACS Chapter, Robot Soc Japan, Japan Soc Mech Engineers, Japan Soc Precis Engn, Chinese Univ Hong Kong, Chiba Inst Technol, Kagawa Univ |
| 会议录 | IEEE ICMA 2006: Proceeding of the 2006 IEEE International Conference on Mechatronics and Automation, Vols 1-3, Proceedings
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 1-4244-0465-7 |
| WOS记录号 | WOS:000241434601082 |
| 源URL | [http://ir.sia.cn/handle/173321/8792]  |
| 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,He XY,et al. Motion planning for a reconfigurable robot to cross an obstacle[C]. 见:IEEE International Conference on Mechatronics and Automation. Luoyang, China. June 25-28, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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