Self-Reconfigurable Modular Robots Adaptively Transforming a Mechanical Structure : Algorithm for Adaptive Transformation to Load Condition
Self-Reconfigurable Modular Robots Adaptively Transforming a Mechanical Structure : Algorithm for Adaptive Transformation to Load Condition
复制标题
自重构模块化机器人自适应地变换机械结构：负载条件自适应变换算法
作者：
Yosuke Suzuki;他
自重构模块化机器人由能够自主改变连接方式的模块组成。适当的控制算法使模块化机器人能够改变它们的形状，以适应它们的直接环境。在本文中，我们提出了一种算法的自适应转换到负载条件的模块化机器人。该算法基于一个简单的想法，即模块倾向于聚集在应力集中的部分并加强这些部分。由于自重构规则，模块化机器人形成了一个合适的结构来代表负载条件。将该算法应用于我们的模块化机器人名为“CHOBIE II”，我们通过计算机模拟表明，模块能够构建悬臂结构，避免过应力状态。
Self‐reconfigurable modular robots are composed of modules which are able to autonomously change the way they are connected. An appropriate control algorithm enables the modular robots to change their shape in order to adapt to their immediate environment. In this paper, we propose an algorithm for adaptive transformation to load condition of the modular robots. The algorithm is based on a simple idea that modules have tendency to gather around stress‐concentrated parts and reinforce the parts. As a result of the self‐reconfiguration rule, the modular robots form an appropriate structure to stand for the load condition. Applying the algorithm to our modular robot named “CHOBIE II,” we show by computer simulation that the modules are able to construct a cantilever structure with avoiding overstressed states.