东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2009, Vol. 30 ›› Issue (4): 491-494.DOI: -

• 论著 • 上一篇    下一篇

一种可变形移动机器人协同构形变换方法

吴成东;刘同林;李斌;刘金国;   

  1. 东北大学信息科学与工程学院;中国科学院沈阳自动化研究所;中国科学院研究生院;
  • 收稿日期:2013-06-22 修回日期:2013-06-22 出版日期:2009-04-15 发布日期:2013-06-22
  • 通讯作者: Liu, T.-L.
  • 作者简介:-
  • 基金资助:
    国家自然科学基金资助项目(60705029);;

Cooperative reconfiguration of a reconfigurable mobile robot

Wu, Cheng-Dong (1); Liu, Tong-Lin (2); Li, Bin (2); Liu, Jin-Guo (2)   

  1. (1) School of Information Science and Engineering, Northeastern University, Shenyang 110004, China; (2) Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; (3) School of Graduate, Chinese Academy of Sciences, Beijing 100049, China
  • Received:2013-06-22 Revised:2013-06-22 Online:2009-04-15 Published:2013-06-22
  • Contact: Liu, T.-L.
  • About author:-
  • Supported by:
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摘要： 提出了一种可变形移动机器人AMOEBA-I的协同构形变换方法,建立了机器人系统的数学模型,对各个模块之间的协同变换及运动特性进行了分析.研究了机器人3个模块在协同变换过程中的电流变化情况,实现了3种特殊构形之间的变换.通过理论分析和实验比较了协同构形变换方法的特点,实验验证了在多种地面条件下机器人协同构形变换方法的有效性.

关键词: 可重构, 模块, 机器人, 可变形, 协同

Abstract: The cooperative reconfiguration of the mobile robot AMOEBA-I is presented via developing a mathematical model of relevant robot system to analyze theoretically the cooperative reconfiguration among every module and corresponding motion characteristics. The change in current is investigated when three modules are in the process of cooperative reconfiguration, thus implementing the transform between three specific configurations. The features of such a cooperative reconfiguration are compared through theoretical analysis and experiments, and the experimental results verifies the validity of the cooperative reconfiguration on various ground surfaces.

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