Enumeration of the Non-Isomorphic Configurations for a Reconfigurable Modular Robot with Square-Cubic-Cell Modules
Enumeration of the Non-Isomorphic Configurations for a Reconfigurable Modular Robot with Square-Cubic-Cell Modules
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DOI：
10.5772/10489
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发表时间：
2010-12
影响因子：
2.3
通讯作者：
Jinguo Liu;Yuechao Wang;Shugen Ma;Yangmin Li
中科院分区：
文献类型：
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作者：
Jinguo Liu;Yuechao Wang;Shugen Ma;Yangmin Li
可重构模块化系统的配置是一个棘手的问题，因为可能的配置或结构随着模块数量呈指数增长。应建立非同构构型库作为构型设计和控制的数据库。在本文中，我们提出了一种基于矩阵的枚举方法，用于具有方形立方单元（SCC）模块的可重构模块化机器人系统的非同构配置。本研究中考虑的每个 SCC 模块都包括一个立方体模块主体和其侧面的四个连接器。由于它具有像二维投影一样的方格，因此提出了配置矩阵来表示模块化机器人的拓扑信息。因此，可以通过仿真中的矩阵计算来对重新配置和枚举进行编程。根据组合原理，采用递归算法找出所有非同构构型。提供多模块 SCC 系统的枚举结果作为示例。还讨论了这种方法在具有晶格形式或立方形式模块的其他可重构系统中的潜在应用。作为应用，对多模块CONRO机器人的枚举也证明了该方法的有效性。
Configuration of a reconfigurable modular system is a tough issue because the possible configurations or structures grow exponentially with the number of modules. A library of the non-isomorphic configurations should be set up as a database for configuration design and control. In this paper, we propose a matrix-based enumerating approach for the non-isomorphic configurations of a reconfigurable modular robot system with square-cubic-cell(SCC) modules. Each SCC module considered in this study includes a cubic module body and four connectors on its lateral surfaces. Since it has a square lattice like 2D projection, configuration matrices are proposed to represent the topological information of the modular robot. Thus reconfiguration and enumeration can be programmed by matrix computation in simulation. According to combinational principle, recursive algorithms are used to find out all non-isomorphic configurations. Enumerating result for a multi-module SCC system is provided as an example. Potential applications of this approach to other reconfigurable systems with lattice-form or cubic-form modules are discussed as well. As an application, enumeration of the multi-module CONRO robot also proves the validity of this method.