Metamorphic strategy based on dynamic meta-modules for a self-reconfigurable robot

被引:0
作者
张玉华 [1 ]
机构
[1] Institute of Robotics,Harbin Institute of Technology,Harbin 150001,P.R.China
基金
国家高技术研究发展计划(863计划);
关键词
self-reconfigurable robot; metamorphic robot; dynamic meta-modules; modular robot;
D O I
暂无
中图分类号
TP242 [机器人];
学科分类号
1111 ;
摘要
For a self-reconfigurable robot,how to metamorphose to adapt itself to environment is a difficultproblem.To solve this problem,a new relative orientation model which describes modules and their sur-rounding grids was given,a module motion rules database which enables the robot to avoid obstacles wasestablished,and finally a three-layer planner based on dynamic meta-modules was developed.The first-layer planner designates the category of each module in robot by evaluation functions and picks out themodules in dynamic recta-modules.The second-layer planner plans the dynamic recta-module path ac-cording to output parameters of the first-layer planner.The third-layer planner plans the motion of themodules in dynamic meta-module using topology variation oriented methods.To validate the efficiency ofthe three-layer planner,two simulations were given.One is the simulation of a single dynamic meta-mod-ule,the other is the simulation of planning with an initial configuration composed of 8 modules in compli-cated environment.Results show that the methods can make robot with any initial configuration movethrough metamorphosis in complicated environment efficiently.
引用
收藏
页码:294 / 299
页数:6
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