Design and experiment of a novel link-type shape shifting modular robot series

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Design and experiment of a novel link-type shape shifting modular robot series
	Liu JG(刘金国); Ma SG(马书根); Lu ZL(卢振利); Wang YC(王越超); Li B(李斌); Wang J(王靖)
	2005
会议名称	IEEE International Conference on Robotics and Biomimetics (ROBIO 2005)
会议日期	July 5-9, 2005
会议地点	Hong Kong, China
页码	318-323
通讯作者	刘金国
中文摘要	Being hyper-redundant, modularized and continuously driving, link-type robots have high mobility under unstructured environment as the nature snake does. In this study, we have experimented on the nature snake and analyzed the link-type structure's character in detail, and then we have proposed a novel link-type shape shifting modular robot. The key advantage of this design over other link-type vehicle is their adaptability and flexibility for its various configurations. Robot in such link type can change its configuration to adapt to the environment and mission by reconfiguring and shape shifting. A standard module is mainly composed of a link arm, a link handle, an offset Pitch joint, an offset Yaw joint, and the track driven system. The adjacent modules are connected through the link arm and the link handle. The multi-module robot can change it shape by the motion of the offset joints. After modification of the standard module, a two-module robot and a three-module robot's assembled structure have been designed respectively. After planning of their locomotion configuration, locomotion experiments of these two robots have been made on the slope, over the trench, up the stairs and on the debris. Experiments have demonstrated that such kind structure permits good mobility and high flexibility under unstructured environment. Being simple, small and portable, the tracked robot platform series have been developed for potential application such as Urban Search and Rescue (USAR) efforts, and planetary exploration.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	2005 IEEE International Conference on Robotics and Biomimetics
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	0-7803-9315-5
WOS记录号	WOS:000241317800060
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8630]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Liu JG,Ma SG,Lu ZL,et al. Design and experiment of a novel link-type shape shifting modular robot series[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2005). Hong Kong, China. July 5-9, 2005.