基于分布式控制的自重构机器人变形策略

设计了一种形状类似立方体、运动空间为三维的称为M-Cubes的新型自重构模块机器人.提出了建立在路径规划和连接规划基础上的变形运动策略,此方法有效地解决了模块在自重构过程中计算量大的棘手问题,优化了系统在变形过程中的运动路径.最后利用Java 3D对模块的本地连接规则进行了仿真,验证了该变形方法的可行性和有效性.

A metamorphic strategy of self-reconfigurable robot locomotion based on distributed control

This paper proposes a novel, three-dimensional, and cubic like modular self-reconfigurable robot named M-Cubes, and describes its metamorphic strategy based on path planning and connectivity planning. It is effective to solve the computationally difficult problem and optimizes the system motion path during the self-reconfiguration process. A simulation experiment, utilizing the java 3D technology, proves that the local connection rules are robust and useful.