一种可变形移动机器人协同构形变换方法

提出了一种可变形移动机器人AMOEBA-I的协同构形变换方法,建立了机器人系统的数学模型,对各个模块之间的协同变换及运动特性进行了分析.研究了机器人3个模块在协同变换过程中的电流变化情况,实现了3种特殊构形之间的变换.通过理论分析和实验比较了协同构形变换方法的特点,实验验证了在多种地面条件下机器人协同构形变换方法的有效性.

The cooperative reconfiguration of the mobile robot AMOEBA-Ⅰ is presented via developing a mathematical model of relevant robot system to analyze theoretically the cooperative reconfiguration among every module and corresponding motion characteristics.The change in current is investigated when three modules are in the process of cooperative reconfiguration,thus implementing the transform between three specific configurations.The features of such a cooperative reconfiguration are compared through theoretical analysis and experiments,and the experimental results verifies the validity of the cooperative reconfiguration on various ground surfaces.

国家自然科学基金资助项目(60705029);;国家高技术研究发展计划项目(2006AA04Z254);;中国科学院先进制造基地创新基金资助项目(07F1240101)