Control System Design and Shape Shifting Method for a Modular Shape-shifting Robot
WANG Jing1,3, LI Bin1, MA Shu-gen2, LIU Jin-guo1,3
1. Robotics Lab, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. COE Research Institute, Ritsumeikan University, Shiga-ken 525-8577, Japan; 3. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
王靖, 李斌, 马书根, 刘金国. 模块化可变形机器人控制系统设计与变形方法研究[J]. 机器人, 2006, 28(5): 457-462..
WANG Jing, LI Bin, MA Shu-gen, LIU Jin-guo. Control System Design and Shape Shifting Method for a Modular Shape-shifting Robot. ROBOT, 2006, 28(5): 457-462..
Abstract：Framework of the modular shape-shifting robot control system is introduced.Modular design is adopted in both hardware and software of the control system,and the expansibility and fault tolerance of the whole system are improved.A new shape-shifting method,i.e.the cooperative shape-shifting method,is proposed based on the characteristics of the robot mechanism.Validity of the control system and superiority of cooperative shape-shifting method are proved by experiment.
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