Mechanical design and locomotion control of a homogenous lattice modular self-reconfigurable robot

作     者：夏平 朱新坚 费燕琼 

作者机构：School of Electronics and Information Technology Shanghai Jiao Tong University Shanghai 200030 China Research Institute of Robotics Shanghai Jiao Tong University Shanghai 200030 China 

基　　金：Project (No. 50305021) supported by the National Natural ScienceFoundation of China 

出 版 物：《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 (浙江大学学报（英文版）A辑（应用物理与工程）)

年 卷 期：2006年第7卷第3期

页      码：368-373页

摘      要：In this paper, we propose a novel, 3D, like cubic shape, modular self-reconfigurable (MSR) robot named M-Cubes. Its key mechanical components are analyzed in detail. By communicating with the neighboring modules, each unit employs its automatic lock device composed of a pin and a hole on each connection plane which can connect or disconnect with neighboring modules. The M-Cubes system consisting of many identical modules cooperates to change their connection, and then the whole structure transforms into arbitrary structure. Furthermore, we describe its locomotion control based on the driving function and the adjacency matrix which is effective for solving the computationally difficult problem and optimizing the system motion path during the self-reconfiguration process. Finally, a simulation experiment using java 3D technology, proved the new method for controlling modular robot is robust and useful.

主 题 词：模块自重构机器人 移动控制 构造设计 Java 

学科分类：0810[工学-土木类] 080202[080202] 08[工学] 0804[工学-材料学] 0805[工学-能源动力学] 0802[工学-机械学] 0812[工学-测绘类] 

核心收录：

D　O　I：10.1631/jzus.2006.A0368

馆 藏 号：203393588...