Analysis on self-morphing process of self-reconfigurable modular robot
文献类型：期刊论文
| 作者 | Fei YQ(费燕琼); Zhu YL(朱跃梁); Xia P(夏平) |
| 刊名 | International Journal of Advanced Robotic Systems
 |
| 出版日期 | 2009 |
| 卷号 | 6期号:3页码:215-222 |
| 关键词 | Self-morphing Self-reconfigurable Modular Motion space |
| ISSN号 | 1729-8806 |
| 产权排序 | 1 |
| 中文摘要 | The self-reconfigurable modular robot consists of many identical modules. By connecting to/disconnecting from other modules, the whole structure of the robot can transform into arbitrary other configurations. First, the lattice-type self-reconfigurable modular robot is proposed and its disconnected/connected mechanism is analyzed, which can finish self-morphing action. Second, the basic configuration of the module is analyzed with the eigenvector matrix. The motion rules are proposed. Third, the possible motion space is described with the geometric feature of modules which is effective for performing the self-morphing process. Then, the selfmorphing motion process is described with the driving function and the adjacency matrix which is useful to solve the computation problem and optimize the motion paths of the robot during the self-reconfigurable morphing process. Final, an experiment of three-module motion and a simulation of multi-module's self-morphing process are shown to prove that the above analyses are effective. |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000285572100007 |
| 公开日期 | 2013-04-21 |
| 源URL | [http://ir.sia.cn/handle/173321/10619]  |
| 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 | Fei YQ,Zhu YL,Xia P. Analysis on self-morphing process of self-reconfigurable modular robot[J]. International Journal of Advanced Robotic Systems,2009,6(3):215-222. |
| APA | Fei YQ,Zhu YL,&Xia P.(2009).Analysis on self-morphing process of self-reconfigurable modular robot.International Journal of Advanced Robotic Systems,6(3),215-222. |
| MLA | Fei YQ,et al."Analysis on self-morphing process of self-reconfigurable modular robot".International Journal of Advanced Robotic Systems 6.3(2009):215-222. |
入库方式： OAI收割
来源：沈阳自动化研究所
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