【摘 要】
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A homogeneous and lattice self-reconfigurable robot module is designed, and each module is composed of a center body and six connection planes which can indepen
【机 构】
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Institute of Automation,Department of Electric,Research Institute of Robotics
论文部分内容阅读
A homogeneous and lattice self-reconfigurable robot module is designed, and each module is composed of a center body and six connection planes which can independently rotate. A module can independently connect or disconnect with other modules, and then change its connection by collaborating with other modules. We discuss how to describe and discover configuration of robot. Furthermore, we describe its motion planning based on the appraisal function and the adjacency matrix which is effective to solve the computationally difficult problem and optimize the system motion path during the self-reconfiguration process. Finally, a simulation experiment is demonstrated, which verifies the correctness of locomotion method.
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