Cooperative reconfiguration for a reconfigurable mobile robot

被引：0
|
作者：
Liu T. [1 ,2 ]
Wu C. [1 ,3 ]
Li B. [1 ]
Liu J. [1 ]
机构：
[1] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences
[2] Graduate School, Chinese Academy of Sciences
[3] School of Information Science and Engineering, Northeast University
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2010年 / 46卷 / 17期
关键词：
Cooperation; Modular; Perturbation analysis; Reconfiguration; Robot; Shape shifting;
D O I：
10.3901/JME.2010.17.001
中图分类号：
学科分类号：
摘要：
A main characteristic of the reconfigurable mobile robot AMOEBA-I is that it has diverse configurations, but some reconfigurations are difficult to realize under the influence of ground conditions. A cooperative reconfiguration method is proposed to reduce reconfiguration resistance and enhance the adaptability of the robot to the environment. The mathematical model is established correspondingly. The kinematics and mechanical properties of each section of the robot are analyzed. A part of resistance is transformed into active force of reconfiguration, and transforms are actualized among five specific configurations. Further, the linearization of model based on a perturbation analysis method is used to reduce the computational complexity. Finally, an evaluation criterion is proposed for AMOEBA-I's cooperative reconfiguration performance. The validity of the cooperative reconfiguration method is proved by simulations and experiments. © 2010 Journal of Mechanical Engineering.
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页码：1 / 7
页数：6
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