ReBot: A Novel Under-Actuated Resilient Robot

被引：0

作者：

Liu, Junkai ^{[1
]}

Liu, C. L. ^{[1
]}

Zhang, Bing ^{[2
]}

Yuan, C. W. ^{[3
]}

Qian, Z. Q. ^{[1
]}

Zhang, W. J. ^{[1
]}

机构：

[1] East China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai, Peoples R China

[2] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai, Peoples R China

[3] Univ Saskatchewan, Dept Mech Engn, Saskatoon, SK, Canada

来源：

PROCEEDINGS OF THE 2018 25TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP) | 2018年

关键词：

Resilient robots; Under-actuated robots; Design; Control; DESIGN; RECONFIGURATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A resilient robot can recover its original function after a partial damage. In this paper, a novel under-actuated resilient robot named ReBot is presented. ReBot is an under-actuated robotic system and it consists of one type of module, which realizes the under-actuated characteristic with the whole robot. In ReBot, the module is designed as a cube structure with two rotational DOFs. The module is designed such that one can connect to another with the function of self-locking and switching between an active and a passive connection. The evolution of the configuration of an entire robotic system is performed autonomously. A preliminary experiment is carried out to show that the design requirement can be achieved.

引用

页码：237 / 242

页数：6

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