TY - GEN
T1 - 360botG2 - An improved unit of mobile self-assembling modular robotic system aiming at exploration in real world
AU - Cao, Yanjun
AU - Leng, Yuquan
AU - Sun, Jinyun
AU - Zhang, Yang
AU - Ge, Weimin
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/84973161348
U2 - 10.1109/IECON.2015.7392349
DO - 10.1109/IECON.2015.7392349
M3 - 会议稿件
AN - SCOPUS:84973161348
T3 - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
SP - 1716
EP - 1722
BT - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Y2 - 9 November 2015 through 12 November 2015
ER -