Configuration analysis for reconfigurable modular planetary robots based on MSV and CSM
Document Type
Conference Proceeding
Publication Date
12-1-2006
Abstract
A reconfigurable modular planetary robot system (RMPRS) consists of the parent body and multiple asymmetric wheel-manipulator child-robot modules. The module, which can independently locomote and manipulate, possesses the orientation of posture and the direction of locomotion. The modules have reconfiguration capability so that a group of the modules can construct a variety of configurations. The aim of the robot reconfiguration is to generate better configuration with respect to the directional locomotion adapted to the environment. Module State Vector (MSV) and Configuration State Matrix (CSM) are presented and constructed for representing the asymmetric module and the configurations, and supporting the transformation operation for triggering the elementary motions of the module and the reconfiguration. The algorithm for optimizing the assembly reconfiguration of discrete modules is proposed and the result is evaluated through numerical simulation in an example. © 2006 IEEE.
Publication Source (Journal or Book title)
IEEE International Conference on Intelligent Robots and Systems
First Page
3191
Last Page
3196
Recommended Citation
Wang, M., Ma, S., Li, B., & Wang, Y. (2006). Configuration analysis for reconfigurable modular planetary robots based on MSV and CSM. IEEE International Conference on Intelligent Robots and Systems, 3191-3196. https://doi.org/10.1109/IROS.2006.282420