Modular reconfigurable robots in space applications

被引：162
|
作者：
Yim, M [1 ]
Roufas, K [1 ]
Duff, D [1 ]
Zhang, Y [1 ]
Eldershaw, C [1 ]
Homans, S [1 ]
机构：
[1] Xerox Corp, Palo Alto Res Ctr, Palo Alto, CA 94304 USA
来源：
AUTONOMOUS ROBOTS | 2003年 / 14卷 / 2-3期
关键词：
modular; self-reconfigurable; robot; space; snake robot; locomotion;
D O I：
10.1023/A:1022287820808
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Robots used for tasks in space have strict requirements. Modular reconfigurable robots have a variety of attributes that are well suited to these conditions, including: serving as many different tools at once (saving weight), packing into compressed forms (saving space) and having high levels of redundancy (increasing robustness). In addition, self-reconfigurable systems can self-repair and adapt to changing or unanticipated conditions. This paper will describe such a self-reconfigurable modular robot: PolyBot. PolyBot has significant potential in the space manipulation and surface mobility class of applications for space.
引用
收藏
页码：225 / 237
页数：13
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