Configuration analysis for reconfigurable modular planetary robots based on MSV and CSM

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

	Configuration analysis for reconfigurable modular planetary robots based on MSV and CSM
	Wang MH(王明辉); Ma SG(马书根); Li B(李斌); Wang YC(王越超)
	2006
会议名称	IEEE/RSJ International Conference on Intelligent Robots and Systems
会议日期	October 9-13, 2006
会议地点	Beijing, China
关键词	reconfigurable modular planetary robot system configuration Module State Vector Configuration State Matrix
页码	3191-3196
中文摘要	A reconfigurable modular planetary robot system (RMPRS) consists of the parent body and multiple asymmetric wheel-manipulator child-robot modules. The module, which can independently locomote and manipulate, possesses the orientation of posture and the direction of locomotion. The modules have reconfiguration capability so that a group of the modules can construct a variety of configurations. The aim of the robot reconfiguration is to generate better configuration with respect to the directional locomotion adapted to the environment. Module State Vector (MSV) and Configuration State Matrix (CSM) are presented and constructed for representing the asymmetric module and the configurations, and supporting the transformation operation for triggering the elementary motions of the module and the reconfiguration. The algorithm for optimizing the assembly reconfiguration of discrete modules is proposed and the result is evaluated through numerical simulation in an example.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE, RSJ
会议录	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-0258-8
WOS记录号	WOS:000245452403055
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8607]
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	Wang MH,Ma SG,Li B,et al. Configuration analysis for reconfigurable modular planetary robots based on MSV and CSM[C]. 见:IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, China. October 9-13, 2006.