Cellular Robots Forming a Mechanical Structure
Cellular Robots Forming a Mechanical Structure
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形成机械结构的蜂窝机器人
DOI：
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发表时间：
2003
期刊：
影响因子：
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通讯作者：
N. Inou
中科院分区：
文献类型：
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作者：
M. Koseki;Kengo Minami;N. Inou
本文讨论了一种称为CHOBIE的机器人组，它可以合作地改造一个机械结构。CHOBIE具有滑动运动机构，即使在运动中也具有一定的机械约束，以实现大刚度。首先，讨论了一种包含力学约束的结构转换方法。其次，基于CHOBIE实验数据，估算了结构转变中的耗散能。第三，为实现机器人的自主性，研制了CHOBIE II机器人，并进行了性能测试。
This paper deals with group robots called CHOBIE that cooperatively transform a mechanical structure. The CHOBIE have slide motion mechanisms with some mechanical constraints for large stiffness even in movement. First of all, a way of structural transformation including the mechanical constraints is discussed. Second, dissipative energy in the structural transformation based on experimental data of the CHOBIE is estimated. Third, for autonomy of the robots, CHOBIE II is developed and the performance test is demonstrated.