360botG2 - An improved unit of mobile self-assembling modular robotic system aiming at exploration in real world | |
Cao YJ(曹燕军); Leng YQ(冷雨泉); Sun JY(孙金云); Zhang Y(张阳); Ge, Weimin | |
2015 | |
会议名称 | 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 |
会议日期 | November 9-12, 2015 |
会议地点 | Yokohama, Japan |
页码 | 1716-1722 |
中文摘要 | An improved unit module of a novel mobile self-assembling modular robotic system is presented in this paper. Two continuous rotational DoFs are used in each module to implement both valuable self-locomotion and flexible reconfiguration. To achieve efficient exploration, unit module can implement two-dimensional locomotion independently and freely in a range of surface conditions in real world, even in environments with certain terrain challenges. With the help of three active connection mechanisms (ACMs), the module has great potential in assembling and reconfiguration to form complex three-dimensional structures. Preliminary locomotion tests in different environments demonstrate its effective mobility and potential applications for exploration. Several useful and easy realized configurations are explained with simulations at last. |
收录类别 | EI ; CPCI(ISTP) |
产权排序 | 1 |
会议主办者 | IEEE Industrial Electonics Society (IES) |
会议录 | IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society |
会议录出版者 | IEEE |
会议录出版地 | Piscataway, NJ, USA |
语种 | 英语 |
ISSN号 | 1553-572X |
ISBN号 | 978-1-4799-1762-4 |
WOS记录号 | WOS:000382950701133 |
内容类型 | 会议论文 |
源URL | [http://ir.sia.cn/handle/173321/18718] |
专题 | 沈阳自动化研究所_空间自动化技术研究室 |
推荐引用方式 GB/T 7714 | Cao YJ,Leng YQ,Sun JY,et al. 360botG2 - An improved unit of mobile self-assembling modular robotic system aiming at exploration in real world[C]. 见:41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015. Yokohama, Japan. November 9-12, 2015. |
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