Configuration representation of a link-type self-reconfigurable mobile robot
Document Type
Conference Proceeding
Publication Date
12-1-2008
Abstract
In this paper, we present a four-layered representing architecture for the configurations of a link-type reconfigurable mobile robot. Decimal numbers are used to represent all these possibilities in joint space. Binary codes are introduced to represent the links with consideration of adjacent interventions. To find out all the mobile configurations completely and accurately, configuration matrices are proposed to represent the configurations physically and to detect the multi-module interventions. Lastly, we take a three-module self-reconfigurable robot, AMOEBA-I, as an example to validate the proposed four-layered approach. © 2008 IEEE.
Publication Source (Journal or Book title)
IEEE Asia-Pacific Conference on Circuits and Systems, Proceedings, APCCAS
First Page
737
Last Page
740
Recommended Citation
Liu, J., Ma, S., Wang, Y., Li, B., & Wang, C. (2008). Configuration representation of a link-type self-reconfigurable mobile robot. IEEE Asia-Pacific Conference on Circuits and Systems, Proceedings, APCCAS, 737-740. https://doi.org/10.1109/APCCAS.2008.4746129