Cooperative Turning for a Reconfigurable Mobile Robot
LIU Tong-lin1,2, LI bin1, WU Cheng-dong3, LIU Jin-guo1
1. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China; 3. College of Information Science and Engineering, Northeast University, Shenyang 110004, China
刘同林, 李斌, 吴成东, 刘金国. 可变形机器人协同转向运动研究[J]. 机器人, 2008, 30(1): 34-40..
LIU Tong-lin, LI bin, WU Cheng-dong, LIU Jin-guo. Cooperative Turning for a Reconfigurable Mobile Robot. ROBOT, 2008, 30(1): 34-40..
Abstract：A reconfigurable mobile robot called AMOEBA-I has various turning modes and diverse configurations.A cooperative turning method is proposed to optimize the turning performance of AMOEBA-I.A mathematical model is established correspondingly.Cooperative turning methods under different configurations are analyzed theoretically.The kinematical relations of three modules during cooperative turning are determined.Then,an index is proposed for evaluating AMOEBA-I cooperative turning performance.Cooperative turning methods under various configurations are compared by theoretical analysis and experiments.Experimental results prove the validity of the cooperative turning method.
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