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基于离散智能的自重构机器人变形策略 被引量：2

A Metamorphic Strategy of Self-Reconfigurable Robots Based on Discrete Intelligence
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摘要 在总结自重构机器人系统结构本质特点的基础上 ,提出了一种描述模型 ,对几种典型的同构和非同构系统进行统一的描述 .探索了自重构机器人的基本变形方法 ,给出一种建立在全离散的局部智能基础上的变形策略 ,使机器人通过模块局部之间的交互产生整体自组织的结果 ,并且能够减低变形算法的计算复杂度 .以一个 9模块系统的变形过程为例进行了验证 . This paper described some essential characteristics of the self reconfigurable robots. A model of description on self reconfigurable robots, and a self organizing metamorphic strategy of self reconfigurable robots based on discrete local intelligence were proposed. This strategy results in the self organization of robot system through local communication between modules, and the complexity of metamorphic algorithm is reduced. An illustration of 9 modules system was given to demonstrate the effectiveness of the strategy.
作者 徐威 汪国宝 柯晓丹 王安麟 王石刚
机构地区 上海交通大学机械与动力工程学院
出处 《上海交通大学学报》 EI CAS CSCD 北大核心 2003年第5期706-709,714,共5页 Journal of Shanghai Jiaotong University
关键词 机器人 自重构 离散智能 变形规则 robot self reconfigurable discrete intelligence metamorphic rules
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献7

  • 1徐威 王石刚.多微机器人的重构与协调控制的研究[J].机器人,2000,22(7):663-666.
  • 2Chirikjian G, Pamecha A, Ebert-Uphoff. I. Evaluating efficiency of self-reconfiguration in a class of modular robots [J]. Journal of Robotic Systems, 1996, 13(5):317--338.
  • 3Rus D, Vona M. A physical implementation of the self-reconfiguring crystalline robot [A]. Proceeding of IEEE International Conference on Robotics and Automation (ICRA'00) [C ]. San Francisco: IEEE,2000. 1726--1733.
  • 4Yoshida E, Murata S, Kurokawa H, et al. A distributed reconfiguration method for 3-D homogeneous structure [A]. Proceeding of IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS'98)[C]. Victoria.. IEEE, 1998. 852--859.
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  • 6Bojinov H, Casal A, Hogg T. Emergent structures in modular self-reconfigurable robots [A]. Proceeding of IEEE International Conference on Robotics and Automation (ICRA'00) [C]. San Francisco: IEEE,2000. 1734--1741.
  • 7Castano A, Shen Wei-Min, Will P. CONRO: towards deployable robots with inter-robot metamorphic capabilities [J]. Autonomous Robots Journal, 2000, 8(3) :309--324.

共引文献2

同被引文献16

  • 1徐威,王高中,王石刚.模块化自重构机器人变形算法的仿真研究[J].系统仿真学报,2004,16(5):883-886. 被引量：5
  • 2Fukuda T,Nakagawa S.Dynamically reconfigurable robotic system.Proc.IEEE/IROS'88:1581-1586
  • 3Yim M,Duff D G,Roufas K D.PolyBot:a modular reconfigurable robot.Proc.IEEE/ICRA'00:514-520
  • 4Castano A,Shen Wei-Min,Will P.CONRO:Towards deployable robots with inter-robot metamorphic capabilities.Autonomous Robots Journal,2000,8(3):309-324
  • 5Chirikjian G,Pamecha A.Bounds for self-reconfiguration of metamorphic robots.Proc.IEEE/ICRA'96:1452-1457
  • 6Kotay K,Rus D.Motion synthesis for the self-reconfiguring molecule.Proc.IEEE/IROS'98:843-851
  • 7Rus D,Vona M.A physical implementation of the self-reconfiguring crystalline robot.Proc.IEEE/ICRA'00:1726-1733
  • 8Yoshida E,Murata S,et al.A distributed reconfiguration method for 3-D homogeneous structure.Proc.IEEE/IROS'98:852-859
  • 9Pamecha A,Chiang C J,Stein D,Chirikjian G S.Design and implementation of metamorphic robots.Proceedings of the ASME Design Engineering Technical Conference and Computers and Engineering Conference,1996:1-10
  • 10Bojinov H,Casal A,Hogg T.Emergent structures in modular self-reconfigurable robots.Proc.IEEE/ICRA'00:1734-1741

引证文献2

二级引证文献19

上海交通大学学报
2003年 第5期

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