Research on mechanism design and motion planning of a modular self-reconfigurable robot

Liang Zhang; Jie Zhao; Hegao Cai

Research on mechanism design and motion planning of a modular self-reconfigurable robot

Liang Zhang^*
, Jie Zhao
, Hegao Cai

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Contribution to conference › Paper › peer-review

2 Scopus citations

Abstract

A novel 3D module structure of modular self-reconfigurable robot was proposed, its detailed mechanism design principle and motion description method were introduced. Besides, a hierarchical motion planning method based on substructures was designed, in which one substructure was constructed by eight modules, and included a build-in motion sequences database for every module. A simulation experiment has been done based on this method and it proves that the method can reduce the search space of the planning, simplify the complexity with higher efficiency and it is feasible in the motion planning of a cluster structure of modules.

Original language	English
Pages	4821-4825
Number of pages	5
State	Published - 2004
Event	WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings - Hangzhou, China Duration: 15 Jun 2004 → 19 Jun 2004

Conference

Conference	WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings
Country/Territory	China
City	Hangzhou
Period	15/06/04 → 19/06/04

Keywords

Configuration
Modular
Motion planning
Self-reconfigurable
Substructure

Cite this

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title = "Research on mechanism design and motion planning of a modular self-reconfigurable robot",

abstract = "A novel 3D module structure of modular self-reconfigurable robot was proposed, its detailed mechanism design principle and motion description method were introduced. Besides, a hierarchical motion planning method based on substructures was designed, in which one substructure was constructed by eight modules, and included a build-in motion sequences database for every module. A simulation experiment has been done based on this method and it proves that the method can reduce the search space of the planning, simplify the complexity with higher efficiency and it is feasible in the motion planning of a cluster structure of modules.",

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author = "Liang Zhang and Jie Zhao and Hegao Cai",

year = "2004",

language = "英语",

pages = "4821--4825",

note = "WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings ; Conference date: 15-06-2004 Through 19-06-2004",

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TY - CONF

T1 - Research on mechanism design and motion planning of a modular self-reconfigurable robot

AU - Zhang, Liang

AU - Zhao, Jie

AU - Cai, Hegao

PY - 2004

Y1 - 2004

N2 - A novel 3D module structure of modular self-reconfigurable robot was proposed, its detailed mechanism design principle and motion description method were introduced. Besides, a hierarchical motion planning method based on substructures was designed, in which one substructure was constructed by eight modules, and included a build-in motion sequences database for every module. A simulation experiment has been done based on this method and it proves that the method can reduce the search space of the planning, simplify the complexity with higher efficiency and it is feasible in the motion planning of a cluster structure of modules.

AB - A novel 3D module structure of modular self-reconfigurable robot was proposed, its detailed mechanism design principle and motion description method were introduced. Besides, a hierarchical motion planning method based on substructures was designed, in which one substructure was constructed by eight modules, and included a build-in motion sequences database for every module. A simulation experiment has been done based on this method and it proves that the method can reduce the search space of the planning, simplify the complexity with higher efficiency and it is feasible in the motion planning of a cluster structure of modules.

KW - Configuration

KW - Modular

KW - Motion planning

KW - Self-reconfigurable

KW - Substructure

UR - https://www.scopus.com/pages/publications/4444363363

M3 - 论文

AN - SCOPUS:4444363363

SP - 4821

EP - 4825

T2 - WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings

Y2 - 15 June 2004 through 19 June 2004

ER -

Research on mechanism design and motion planning of a modular self-reconfigurable robot

Abstract

Conference

Keywords

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