Mechanism design and motion planning of M-Cubes robot  

作　　者：夏平 Zhu Xinjian　　 Fei Yanqiong　 Xu Bing 

机构地区：[1]Institute of Automation, Shanghai Jiaotong University, Shanghai 200030, P.R. China [2]Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200030, P.R.China [3]Department of Electric, Shanghai BaoSteel Engineering ＆ Technology Co., LTD., Shanghai 201900, P.R. China

出　　处：《High Technology Letters》2007年第1期12-16,共5页高技术通讯（英文版）

摘　　要：A homogeneous and lattice self-reconfigurable robot module is designed, and each module is composed of a center body and six connection planes which can independently rotate. A module can independently connect or disconnect with other modules, and then change its connection by collaborating with other modules. We discuss how to describe and discover configuration of robot. Furthermore, we describe its motion planning based on the appraisal function and the adjacency matrix which is effective to solve the computationally difficult problem and optimize the system motion path during the self-reconfiguration process. Finally, a simulation experiment is demonstrated, which verifies the correctness of locomotion method.

关 键 词：ROBOT MODULE self-reconfigurable motion planning 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]