Journal of Northeastern University(Natural Science)

Journal of Northeastern University ›› 2009, Vol. 30 ›› Issue (4): 491-494.DOI: -

• OriginalPaper • Previous Articles     Next Articles

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.
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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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