可变形机器人协同转向运动研究  

Cooperative Turning for a Reconfigurable Mobile Robot

作　　者：刘同林[1] 李斌[1] 吴成东[2] 刘金国[1] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学重点实验室 [2]东北大学信息科学与工程学院,辽宁沈阳110004

出　　处：《机器人》2008年第1期34-40,共7页Robot

基　　金：国家863计划资助项目(2001AA422360)

摘　　要：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 molbile 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 co- operative 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.

关 键 词：可变形机器人 转向 履带 构形 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]