Modular reconfigurable robots in space applications

被引：169

作者：

Yim, M ^{[1
]}

Roufas, K ^{[1
]}

Duff, D ^{[1
]}

Zhang, Y ^{[1
]}

Eldershaw, C ^{[1
]}

Homans, S ^{[1
]}

机构：

[1] Xerox Corp, Palo Alto Res Ctr, Palo Alto, CA 94304 USA

来源：

AUTONOMOUS ROBOTS | 2003年 / 14卷 / 2-3期

关键词：

modular; self-reconfigurable; robot; space; snake robot; locomotion;

D O I：

10.1023/A:1022287820808

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Robots used for tasks in space have strict requirements. Modular reconfigurable robots have a variety of attributes that are well suited to these conditions, including: serving as many different tools at once (saving weight), packing into compressed forms (saving space) and having high levels of redundancy (increasing robustness). In addition, self-reconfigurable systems can self-repair and adapt to changing or unanticipated conditions. This paper will describe such a self-reconfigurable modular robot: PolyBot. PolyBot has significant potential in the space manipulation and surface mobility class of applications for space.

引用

页码：225 / 237

页数：13

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