Described model of a modular self-reconfigurable robot

被引：0
|
作者：
Wu, QX [1 ]
Cao, GY [1 ]
Fei, YQ [1 ]
机构：
[1] Shanghai Jiao Tong Univ, Res Inst Fuelcell, Shanghai 200030, Peoples R China
来源：
PROCEEDINGS OF 2005 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-9 | 2005年
关键词：
modular Self-Reconfigurable (MSR) robot; configuration matrix; feature vector;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A homogeneous lattice modular Self-Reconfigurable (MSR) robot was designed in the paper, we discuss how to describe configuration of robot using graphs theory, how to discover a robot configuration, utilizing connecting status of six connection component, a feature vector matrix was proposed in order to accurately described the topology structure, position and connection relation of MSR robot. Basic movement and meta-module structure was introduced too. A locomotion example of robot was demonstrated, it verify the correctness of MSR robot model described. The methodology establishes foundation to further study self-reconfiguration algorithm, it is very general and can be applied easily to other modular robots.
引用
收藏
页码：188 / 193
页数：6
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