Modular self-reconfigurable robot systems - Challenges and opportunities for the future
Modular self-reconfigurable robot systems - Challenges and opportunities for the future
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DOI：
10.1109/mra.2007.339623
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发表时间：
2007-03-01
影响因子：
5.7
通讯作者：
Chirikjian, Gregory S.
中科院分区：
文献类型：
--
作者：
Yim, Mark;Shen, Wei-Min;Chirikjian, Gregory S.
模块化自重构机器人系统领域致力于具有可变形态的自主运动机器的设计、制造、运动规划和控制。模块化自重构系统有望在机器人领域取得重大技术进步。它们对高通用性、高价值和高鲁棒性的承诺可能会导致自动化的根本变化。目前，一些研究人员正在解决许多挑战。虽然取得了一些进展，但显然仍然存在许多挑战。通过说明几个突出的问题，作为这个领域的大量研究人员合作撰写的重大挑战，本文展示了这个不断发展的领域未来的几个关键方向
The field of modular self-reconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology. Modular self-reconfigurable systems have the promise of making significant technological advances to the field of robotics in general. Their promise of high versatility, high value, and high robustness may lead to a radical change in automation. Currently, a number of researchers have been addressing many of the challenges. While some progress has been made, it is clear that many challenges still exist. By illustrating several of the outstanding issues as grand challenges that have been collaboratively written by a large number of researchers in this field, this article has shown several of the key directions for the future of this growing field