Reconfigurable Modular Robots Adaptively Transforming a Mechanical Structure (Numerical Expression of Transformation Criteria of "CHOBIE II" and Motion Experiments)
Reconfigurable Modular Robots Adaptively Transforming a Mechanical Structure (Numerical Expression of Transformation Criteria of "CHOBIE II" and Motion Experiments)
复制标题
可重构模块化机器人自适应地改造机械结构（“CHOBIE II”改造标准的数值表达及运动实验）
DOI：
10.1007/978-3-642-00644-9_35
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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
本研究描述了一个群体机器人系统“CHOBIE II”。CHOBIE II的特点是形成自重构结构的功能。我们专注于运动规划方法，以获得控制算法。为了这个目的，我们引入了一个数值准则产生的转换。该判据用32个参数的矩阵形式表示。该标准便于执行CHOBIE II的各种动作，而不需要高信息处理单元。我们用数值表达式证明了CHOBIE Ⅱ的两类变换。仿真结果表明，该方法具有简化控制算法、缩小控制模块尺寸的优点。
This study describes a group robotic system “CHOBIE II.” The feature of CHOBIE II is a function to form a self-reconfigurable structure. We focus on a motion planning method to obtain control algorithms. For this purpose, we introduce a numerical criterion for generating transformations. The criterion is expressed with a matrix form of 32 parameters. The criteria facilitate implementation of various motions of CHOBIE II, not requiring a high information processing unit. We demonstrate two types of transformations of CHOBIE II with the numerical expression. It is confirmed that the proposed method has advantages of simplification and downsizing of control algorithms of the modules.