自重构机器人系统自修复的拓扑空间及运动规则描述  

Description of Topological Space and Motion Rules Based on Self-repair in Self-reconfigurable Robots

作　　者：费燕琼[1] 张鑫[1] 徐磊[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《上海交通大学学报》2009年第3期490-493,共4页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(50305021;50775145);上海市自然科学基金资助项目(07ZR14050)

摘　　要：针对一种新颖的同构式模块化自重构机器人系统,研究了一种基于图论的数学描述方法,以表示每个模块的空间位置及连接状态,进而表达全局拓扑结构;受有限状态机的启发,分析了自重构机器人系统模块的基本运动,提出了该网格型自重构模块化机器人的模块运动规则,为研究自修复算法提供了理论基础.The novel self-reconfigurahle modular robot system was presented. In order to describe the position and connection states of each module, a mathematical method based on graph theory was proposed, which can present the topological structure in the whole systems. According to finite state machime （FSM）, the basic motion of the module was analyzed and the motion rules were given, which is the theory base for studying the self-repairing algorithm.

关 键 词：自重构机器人 模块 拓扑空间 运动规则 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]