自重构模块化机器人系统的概念

Satoshi Murata , Eiichi Yoshida , Haruhisa Kurokawa , Kohji Tomita , Shigeru Kokaji
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引用次数: 29

摘要

提出了一种由同构自主机器人模块组成的新型自重构机器人系统的概念。每个机器人模块只有两个自由度,但是一组模块可以通过改变其局部连接来改变其连接配置。因此,一组模块可以根据周围环境或所需规格变形成任意配置。组合模块不仅具有结构变形的能力,而且具有机器人系统产生复杂运动的功能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Concept of self-reconfigurable modular robotic system

We present a concept of novel self-reconfigurable robotic system made of homogeneous autonomous robotic modules. Each robotic module has only two DOF, however a group of this module is able to change its connective configuration by changing their local connections. A cluster of the modules, thus can metamorphose into arbitrary configuration according to the surrounding environment or desired specification. Not only this ability of structural metamorphosis, the combined modules have functionality of robotic system which is capable of generating complicated motion.

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