中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Enumeration of the non-isomorphic configurations for a reconfigurable modular robot with square-cubic-cell modules

文献类型:期刊论文

作者Liu JG(刘金国); Wang YC(王越超); Ma SG(马书根); Li YM(李杨民)
刊名INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
出版日期2010
卷号7期号:4页码:58-68
关键词reconfigurable modular robot non-isomorphic configuration lattice cubic configuration matrix 2D projection
ISSN号1729-8806
产权排序1
中文摘要Configuration of a reconfigurable modular system is a tough issue because the possible configurations or structures grow exponentially with the number of modules. A library of the non-isomorphic configurations should be set up as a database for configuration design and control. In this paper, we propose a matrix-based enumerating approach for the non-isomorphic configurations of a reconfigurable modular robot system with square-cubic-cell(SCC) modules. Each SCC module considered in this study includes a cubic module body and four connectors on its lateral surfaces. Since it has a square lattice like 2D projection, configuration matrices are proposed to represent the topological information of the modular robot. Thus reconfiguration and enumeration can be programmed by matrix computation in simulation. According to combinational principle, recursive algorithms are used to find out all non-isomorphic configurations. Enumerating result for a multi-module SCC system is provided as an example. Potential applications of this approach to other reconfigurable systems with lattice-form or cubic-form modules are discussed as well. As an application, enumeration of the multi-module CONRO robot also proves the validity of this method.
WOS标题词Science & Technology ; Technology
类目[WOS]Robotics
研究领域[WOS]Robotics
关键词[WOS]SELF-RECONFIGURATION ; SYSTEM ; LOCOMOTION ; DESIGN
收录类别SCI ; EI
资助信息This work was supported by the National Natural Science Foundation of China (Grant No. 60705029), the National High-Technology 863 Program (Grant No. 2007AA041502-5), and the Foundation of the State Key Laboratory of Robotics at SIA (Grant No. RLO201003).
语种英语
WOS记录号WOS:000288497400007
公开日期2012-05-29
源URL[http://ir.sia.cn/handle/173321/7647]  
专题沈阳自动化研究所_空间自动化技术研究室
推荐引用方式
GB/T 7714
Liu JG,Wang YC,Ma SG,et al. Enumeration of the non-isomorphic configurations for a reconfigurable modular robot with square-cubic-cell modules[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2010,7(4):58-68.
APA Liu JG,Wang YC,Ma SG,&Li YM.(2010).Enumeration of the non-isomorphic configurations for a reconfigurable modular robot with square-cubic-cell modules.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,7(4),58-68.
MLA Liu JG,et al."Enumeration of the non-isomorphic configurations for a reconfigurable modular robot with square-cubic-cell modules".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 7.4(2010):58-68.

入库方式: OAI收割

来源:沈阳自动化研究所

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