| 同构阵列式自重构机器人的设计和变形策略 |
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| 引用本文： | 夏平,朱新坚,费燕琼.同构阵列式自重构机器人的设计和变形策略[J].上海交通大学学报,2006,40(11):1822-1826. |
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| 作者姓名： | 夏平 朱新坚 费燕琼 |
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| 作者单位： | 1. 上海交通大学电子信息与电气工程学院,上海,200030
2. 上海交通大学机器人研究所,上海,200030 |
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| 摘 要： | 设计了一种同构、阵列式自重构模块机器人,其特点为结构紧凑、运动灵活.每一个模块可以单独地与其他模块相互分离或连接,通过与其他模块合作改变自身的连接.讨论了如何描述机器人的位形,并提出了一种建立在评价函数和邻接矩阵基础上的变形运动方法.该方法有效地降低了系统的计算量,减少了运动步数.利用Java 3D验证了所提出运动算法的可行性和合理性.
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| 关 键 词： | 机器人 自重构 模块 变形 |
| 文章编号： | 1006-2467（2006）11-1822-05 |
| 收稿时间： | 2005-11-01 |
| 修稿时间： | 2005年11月1日 |
Design and Metamorphosis Method of a Homogeneous and Lattice Self-Reconfigurable Robot |
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| XIA Ping,ZHU Xin-jian,FEI Yan-qiong.Design and Metamorphosis Method of a Homogeneous and Lattice Self-Reconfigurable Robot[J].Journal of Shanghai Jiaotong University,2006,40(11):1822-1826. |
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| Authors: | XIA Ping ZHU Xin-jian FEI Yan-qiong |
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| Institution: | a. School of Electronic, Information Shanghai Jiaotong and Electrical Eng. ; b. Research Inst. of Robotics, Univ. , Shanghai 200030, China |
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| Abstract: | A homogeneous and lattice self-reconfigurable robot module was designed,its character is small in size and compact.A module can independently connect or disconnect with other modules,and then change its connection by collaborating with other modules.This paper discussed how to describe and discover the configuration of robot.Furthermore,a new motion planning method was established based on the appraisal function and the adjacency matrix,which reduces the system computation and minimizes the reconfiguration step.A simulation experiment is demonstrated and it verifies the correctness of metamorphosis method. |
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| Keywords: | robot self-reconfigurable module metamorphosis |
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