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)
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| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
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| 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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