【摘要】 定义了模块化自重构机器人构形拓扑转换的基本概念,分析总结了最优构形拓扑转换的规律,并采用遗传算法对构形拓扑转换进行优化.结果显示,构形拓扑转换过程中的连接变化操作次数被有效地降低,提高了模块化自重构机器人自重构的效率.更多还原

【Abstract】 This paper defined the basic concept of configuration topological transformation for modular self-reconfigurable (MSR) robots, and summed up the discipline of the optimal topological transformation, then employed a genetic algorithm for this topological transformation optimization. The result shows that the connective variations, i.e. connections or disconnections in the self-reconfiguration are reduced, which to improves the efficiency of self-reconfiguration for MSR robots.更多还原