基于离散智能的自重构机器人变形策略  

A Metamorphic Strategy of Self-Reconfigurable Robots Based on Discrete Intelligence

作　　者：徐威[1] 汪国宝[1] 柯晓丹[1] 王安麟[1] 王石刚[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200030

出　　处：《上海交通大学学报》2003年第5期706-709,714,共5页Journal of Shanghai Jiaotong University

摘　　要：在总结自重构机器人系统结构本质特点的基础上 ,提出了一种描述模型 ,对几种典型的同构和非同构系统进行统一的描述 .探索了自重构机器人的基本变形方法 ,给出一种建立在全离散的局部智能基础上的变形策略 ,使机器人通过模块局部之间的交互产生整体自组织的结果 ,并且能够减低变形算法的计算复杂度 .以一个 9模块系统的变形过程为例进行了验证 .This paper described some essential characteristics of the self reconfigurable robots. A model of description on self reconfigurable robots, and a self organizing metamorphic strategy of self reconfigurable robots based on discrete local intelligence were proposed. This strategy results in the self organization of robot system through local communication between modules, and the complexity of metamorphic algorithm is reduced. An illustration of 9 modules system was given to demonstrate the effectiveness of the strategy.

关 键 词：机器人 自重构 离散智能 变形规则 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]