可变形机器人协同转向运动研究

可变形机器人AMOEBA-I具有多种构形和多种转向方式.为实现机器人转向性能的优化,提出了可变形机器人的协同转向方法,并建立了相应的数学模型,对不同构形下的协同转向方式进行了理论分析.设定了机器人三个模块在协同转向过程中的运动关系,在此基础上给出了可变形机器人协同转向性能的评价指标.通过理论和实验比较了不同构形下的协同转向方式,实验验证了协同转向方法的有效性.

A reconfigurable mobile robot called AMOEBA-I has various turning modes and diverse configurations.A cooperative turning method is proposed to optimize the turning performance of AMOEBA-I.A mathematical model is established correspondingly.Cooperative turning methods under different configurations are analyzed theoretically.The kinematical relations of three modules during cooperative turning are determined.Then,an index is proposed for evaluating AMOEBA-I cooperative turning performance.Cooperative turning methods under various configurations are compared by theoretical analysis and experiments.Experimental results prove the validity of the cooperative turning method.

国家863计划资助项目(2001AA422360)