Kinematics analysis of morphing process in multi-module robot systems
文献类型：会议论文
| 作者 | Fei YQ(费燕琼); Wang Y(王永) |
| 出版日期 | 2010 |
| 会议名称 | 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010 |
| 会议日期 | July 7-9, 2010 |
| 会议地点 | Jinan, China |
| 关键词 | Intelligent control Linear transformations Modular robots |
| 页码 | 6562-6566 |
| 通讯作者 | 费燕琼 |
| 中文摘要 | The multi-module robot systems consist of a set of homogeneous modules. In the paper, seven connecting types of cuboid modules are analyzed. For deriving the transformation matrix of each connecting type, the concepts of basic group are proposed. Then, the geometric relationships of each connecting type are derived with the group theory. With the rotary motion around the neighboring module, the morphing process from a quadruped to two-leg modular robot is shown. For the automatic generation of the kinematics of each modular robot, an approach has been adopted by a series of elemental matrixes multiplication with product of matrix exponentials. Examples of the kinematics on a quadruped and a two-leg modular robot are given to demonstrate the applicability of the proposed methods generating kinematics. © 2010 IEEE. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-6712-9 |
| WOS记录号 | WOS:000295959507055 |
| 源URL | [http://ir.sia.cn/handle/173321/10494]  |
| 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,Wang Y. Kinematics analysis of morphing process in multi-module robot systems[C]. 见:2010 8th World Congress on Intelligent Control and Automation, WCICA 2010. Jinan, China. July 7-9, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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