Network-based reconfiguration routes for a self-reconfigurable robot  

作　　者：LIU JinGuo MA ShuGen WANG YueChao LI Bin 

机构地区：[1]State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China [2]Graduate-School of Chinese Academy of Sciences, Bejing 100039, China [3]Department of Robotics, Faculty of Science and Engineering, Ritsumeikan University, Shiga-ken 525- 8577, Japan

出　　处：《Science in China(Series F)》2008年第10期1532-1546,共15页中国科学（F辑英文版）

基　　金：the National Natural Science Foundation of China (Grant No.60705029);the National High-Technology (863 Program) (Grant No.2007AA041502-5);Advanced Manufacturing Technology R&D Base Foundation of Chinese Academy of Sciences (Grant No.07F1240101);the CAS President’s Award Winner Foundation

摘　　要：This paper presents a network-based analysis approach for the reconfiguration problem of a self-reconfigurable robot. The self-reconfigurable modular robot named ＂AMOEBA-I＂ has nine kinds of non-isomorphic configurations that consist of a configuration network. Each configuration of the robot is defined to be a node in the weighted and directed configuration network. The transformation from one configuration to another is represented by a directed path with nonnegative weight. Graph theory is applied in the reconfiguration analysis, where reconfiguration route, reconfigurable matrix and route matrix are defined according to the topological information of these configurations. Algorithms in graph theory have been used in enumerating the available reconfiguration routes and deciding the best reconfiguration route. Numerical analysis and experimental simulation results prove the validity of the approach proposed in this paper. And it is potentially suitable for other self-reconfigurable robots＇ configuration control and reconfiguration planning.This paper presents a network-based analysis approach for the reconfiguration problem of a self-reconfigurable robot. The self-reconfigurable modular robot named ＂AMOEBA-I＂ has nine kinds of non-isomorphic configurations that consist of a configuration network. Each configuration of the robot is defined to be a node in the weighted and directed configuration network. The transformation from one configuration to another is represented by a directed path with nonnegative weight. Graph theory is applied in the reconfiguration analysis, where reconfiguration route, reconfigurable matrix and route matrix are defined according to the topological information of these configurations. Algorithms in graph theory have been used in enumerating the available reconfiguration routes and deciding the best reconfiguration route. Numerical analysis and experimental simulation results prove the validity of the approach proposed in this paper. And it is potentially suitable for other self-reconfigurable robots＇ configuration control and reconfiguration planning.

关 键 词：self-reconfigurable robot modular robot reconfiguration route network-based reconfiguration configuration network 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]