【摘要】 提出了一种采用相对方位系数与标准构型步态控制表结合的控制策略,对由n(n≥4)个模块组成、模块放置方位变化的自重构机器人蠕虫构型进行运动控制.利用模块之间的分布式通信和上位机主控相结合的通信方式,构型中的各个模块根据与相邻模块的相对方位关系和标准步态表自行决定自身的运动序列,可以对蠕虫机器人进行实时控制.对2组由不同数目、不同方位模块组成的蠕虫构型的运动控制进行了实验.实验结果表明:该方法实现简单,可以针对模块数目不定、方位可变的自重构机器人蠕虫构型进行实时运动控制.更多还原

【Abstract】 A control method combined standard configuration gaits lists with relative orientation coefficients is proposed for worm-like configuration of modular self-reconfigurable robot,in which configuration number n(n≥4) and orientation of modules can be variable.Combined distributed communication between connecting modules with master-slave control between master computer and all modules,self-reconfigurable robot modules can automatically recognise its orientation coefficients relative to modules directly connecting to itself and compute its rotate angle series.Experiments on two kinds of worm-like structures with different modules and module orientation were conducted.Results show that the method can easily control the worm-like structure with different modules and module orientation.更多还原