Transformation technique research of the improved link-type shape shifting modular robot
文献类型：会议论文
| 作者 | Liu JG(刘金国) ; Wang YC(王越超); Li B(李斌); Ma SG(马书根); Wang J(王靖); Cao HB(曹会彬)
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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 | transformation technique shape shifting robot modular robot link-type structure cooperation |
| 页码 | 295-300 |
| 通讯作者 | 刘金国 |
| 中文摘要 | The link-type shape shifting modular robot permits high mobility under unstructured environment for their continuously driving and redundancy. The objective of this work is to enhance the flexibility of the primary shape shifting robot through transformation technique improvement, especially in the robot's torque and current reduction. The improved prototype, a manually reconfigurable and shape changeable tracked robot named "AMOEBA-I", has been introduced. To improve the system's controllability, a wireless remote control system has been equipped in the control platform located on the center module. The framework of the modular shape shifting robot control system has been introduced. The whole control system has been designed with the consideration of modularization in both hardware and software to enhance its expansibility and fault tolerance. A novel transformation technique has been proposed based on the cooperation work of mechanism. Finally, this transformation technique has been tested and compared with the traditional method. Experimental results show that the novel transformation technique has the merits such as lower current and less torque. |
| 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:000241434600052 |
| 源URL | [http://ir.sia.cn/handle/173321/8932]  |
| 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. Transformation technique research of the improved link-type shape shifting modular robot[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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