TY - GEN
T1 - Self-reconfiguration planning of self-reconfigurable robot based on Windmill-like crystal cell group
AU - Ren, Zongwei
AU - Zhu, Yanhe
PY - 2011
Y1 - 2011
N2 - Motion and self-reconfiguration are basic abilities of modular self-reconfigurable robot (MSR), most MSRs' unit modules do not have these abilities. Therefore, Windmill-like crystal cell group (WLCCG) is designed and have the abilities of moving, self-reconfiguring, changing azimuth of the other modules and carrying other modules. The motion is similar to the molecular motion. Thus the reconfiguration processes from initial configuration which are constructed by 24 modules to "H" configuration can be realized. In the process of planning the sequence of module connecting, disconnecting and rotating, the paper found that the robot configuration made of four WLCCGs can realize reconfigurable moving function. The algorithm based on the gradient of the potential field is used in planning the moving path of robot composed of WLCCGs. The actions of robot are realized by fixed motion sequence database.
AB - Motion and self-reconfiguration are basic abilities of modular self-reconfigurable robot (MSR), most MSRs' unit modules do not have these abilities. Therefore, Windmill-like crystal cell group (WLCCG) is designed and have the abilities of moving, self-reconfiguring, changing azimuth of the other modules and carrying other modules. The motion is similar to the molecular motion. Thus the reconfiguration processes from initial configuration which are constructed by 24 modules to "H" configuration can be realized. In the process of planning the sequence of module connecting, disconnecting and rotating, the paper found that the robot configuration made of four WLCCGs can realize reconfigurable moving function. The algorithm based on the gradient of the potential field is used in planning the moving path of robot composed of WLCCGs. The actions of robot are realized by fixed motion sequence database.
KW - Modular self reconfigurable robot
KW - Self-reconfiguring strategy
KW - Windmill-like crystal cell group
UR - https://www.scopus.com/pages/publications/79952530848
U2 - 10.1109/MSIE.2011.5707641
DO - 10.1109/MSIE.2011.5707641
M3 - 会议稿件
AN - SCOPUS:79952530848
SN - 9781424483853
T3 - 2011 International Conference on Management Science and Industrial Engineering, MSIE 2011
SP - 1218
EP - 1222
BT - 2011 International Conference on Management Science and Industrial Engineering, MSIE 2011
T2 - 2011 International Conference on Management Science and Industrial Engineering, MSIE 2011
Y2 - 8 January 2011 through 11 January 2011
ER -