Motion Planning for a Reconfigurable Robot to Cross over Obstacles
HE Xin-yuan1,3, MA Shu-gen1,2, LI Bin1, WANG Ming-hui1,3
1. Robotics Lab, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Department of Systems Engineering, Ibaraki University 316-8511, Japan; 3. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
贺鑫元, 马书根, 李斌, 王明辉. 可重构机器人越障运动的规划[J]. 机器人, 2006, 28(1): 71-75..
HE Xin-yuan, MA Shu-gen, LI Bin, WANG Ming-hui. Motion Planning for a Reconfigurable Robot to Cross over Obstacles. ROBOT, 2006, 28(1): 71-75..
Abstract：A new reconfigurable robot is introduced,which can give output in different forms under various constraint conditions from one driving torque.It thus can cross over obstacles autonomously.Because the oriented wheel and the arm have fatal influence on the height of the crossing obstacle,a new motion planning method for robot to cross over obstacles is proposed by using environment and attitude of the arm,and the height of the crossing obstacles will greatly be improved.The validity of the planning is proven by experiments on a prototype.
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