Study on Distributed Motion of Self-Reconfigurable Robot Based on Local Rules

被引：1
|
作者：
吴秋轩 [1 ]
曹广益 [2 ]
田华英 [2 ]
费燕琼 [3 ]
机构：
[1] Inst.of Automation,Hangzhou Dianzi Univ.
[2] Research Inst.of Fuelcell,Shanghai Jiaotong Univ.
[3] Inst.of Robot,Shanghai Jiaotong Univ.
来源：
Journal of Shanghai Jiaotong University(Science) | 2007年 / 02期
基金：
中国国家自然科学基金;
关键词：
modular self-reconfigurable robot(MSRR); cellular automata; local rules; distributed control;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
The eigenvector of a module with six adjacent module’s state was constructed according to self-reconfigurable robot M-Cubes and the configuration of system was expressed with the eigenvectors of all modules.According to the configuration and motion characteristics of the modules,a 3-dimension motion rule set was provided.The rule sets of each module was run according to eigenvector of the module after the motion direction of system decided and motion rules were selected.At last,the rapid and effective motion and metamorphosis were realized in system.The rule sets are operated on three systems and the distributed motion of system is fully realized.The result of simulation shows that the 3-dimension motion rule sets has perfect applicability and extensibility.The motion steps and communication load of the modules increase with the module number in linear.
引用
收藏
页码：164 / 171
页数：8
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