Reconfigurable group robots adaptively transforming a mechanical structure - Extended criteria for load-adaptive transformations -
Reconfigurable group robots adaptively transforming a mechanical structure - Extended criteria for load-adaptive transformations -
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可重构群机器人自适应地变换机械结构 - 负载自适应变换的扩展标准 -
DOI：
10.1109/iros.2008.4650834
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
H. Kimura
中科院分区：
文献类型：
--
作者：
Yosuke Suzuki;N. Inou;M. Koseki;H. Kimura
本文研究了模块化机器人系统ldquoCHOBIE II的控制方法。我们的目的是实现一种功能，使CHOBIE II形成自适应机械环境的可重构结构。在上一篇文章中，我们介绍了一种表达生成转换的标准的方法。该准则由结构轮廓上32种局部形状对应的32个参数来规范。根据该准则，CHOBIE II可以将不需要的局部形状溶解并转换为目标构型。本文提出了一种通过扩展准则来实现载荷自适应运动的方法。具体来说，我们增加了两个新的标准来诱导理想的局部形状，并根据负载条件改变运动的优先级。仿真结果表明了该方法的有效性，模块化机器人构建了一个悬臂结构，避免了超应力状态。
This study deals with a control method of a modular robotic system ldquoCHOBIE II.rdquo Our purpose is to realize a function that CHOBIE II forms a self-reconfigurable structure adaptively to mechanical environments. In the previous paper, we introduced a method to express criteria for generating transformations. A criterion is regulated by 32 parameters corresponding to 32 kinds of local shapes on contour of the structure. According to the criterion, CHOBIE II can dissolve undesirable local shapes and transform to goal configurations. In this paper, we propose a method to realize load-adaptive motion extending the criterion. Specifically, we add two new criteria to induce desirable local shapes and to change priorities of motions depending on a load condition. We show the availability of the method by simulation results that the modular robots construct a cantilever structure avoiding overstressed states.