Study on Distributed Motion of Self-Reconfigurable Robot Based on Local Rules  

作　　者：吴秋轩 曹广益 田华英 费燕琼 

机构地区：[1]Inst.of Automation,Hangzhou Dianzi Univ. [2]Research Inst.of Fuelcell,Shanghai Jiaotong Univ. [3]Inst.of Robot,Shanghai Jiaotong Univ.

出　　处：《Journal of Shanghai Jiaotong university(Science)》2007年第2期164-171,共8页上海交通大学学报（英文版）

基　　金：The National Natural Science Foundation of China(No.50305021)

摘　　要：The eigenvector of a module with six adjacent module's state was constructed according to self-reconfigurable robot M-Cubes and the configuration of system was expressed with the eigenvectors of all modules.According to the configuration and motion characteristics of the modules,a 3-dimension motion rule set was provided.The rule sets of each module was run according to eigenvector of the module after the motion direction of system decided and motion rules were selected.At last,the rapid and effective motion and metamorphosis were realized in system.The rule sets are operated on three systems and the distributed motion of system is fully realized.The result of simulation shows that the 3-dimension motion rule sets has perfect applicability and extensibility.The motion steps and communication load of the modules increase with the module number in linear.The eigenvector of a module with six adjacent module＇s state was constructed according to self-reconfigurable robot M-Cubes and the configuration of system was expressed with the eigenvectors of all modules. According to the configuration and motion characteristics of the modules, a 3-dimension motion rule set was provided. The rule sets of each module was run according to eigenvector of the module after the motion direction of system decided and motion rules were selected. At last, the rapid and effective motion and metamorphosis were realized in system. The rule sets are operated on three systems and the distributed motion of system is fully realized. The result of simulation shows that the 3-dimension motion rule sets has perfect applicability and extensibility. The motion steps and communication load of the modules increase with the module number in linear.

关 键 词：modular self-reconfigurable robot （MSRR） cellular automata local rules distributed control 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]