Reconfiguration planning for wheel-manipulator robots

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Reconfiguration planning for wheel-manipulator robots
	Hu YN(胡亚南); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
	2015
会议名称	2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期	June 8-12, 2015
会议地点	Shenyang, China
关键词	reconfiguration planning wheel-manipulator robot perfect matching
页码	529-534
中文摘要	This paper presents a reconfiguration planning method for a mobile type modular reconfigurable robot system, which is composed of wheel-manipulator robots. The wheel-manipulator robots can either locomote autonomously as individual modules or assemble into various group configurations with different locomotion capabilities. Through reconfiguration, they are capable of adapting to different tasks or environments. Given a goal configuration, a reconfiguration is realized by the movement of the individual modules. The main difficulty of the reconfiguration planning problem is that the goals in the goal configuration for the respective modules are unknown, which are required for the motion planning of the modules. The proposed method is composed of three parts. Firstly, the transition states of the involved modules of a configuration are defined, based on which the reconfiguration process is decomposed into three steps. Secondly, the goals for the respective modules are determined by solving an assignment problem. Thirdly, the motions of the modules are generated, which take the kinematics of the robots into account and are collision-free. Simulation results demonstrate the feasibility and the efficiency of the method.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	2379-7711
ISBN号	978-1-4799-8730-6
WOS记录号	WOS:000380502300102
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17480]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Hu YN,Ma SG,Li B,et al. Reconfiguration planning for wheel-manipulator robots[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015.