摘要
提出了一种模块化可手动重组机器人机构,该机构具有结构简单,控制方便,成本低廉等优点。基于模块化设计,使机器人具有多自由度和灵活的变形能力,可以很好地适应环境的变化,完成不同的任务。通过模块间的分离和对接,可实现蛇形、履带形和4足形等多种仿生结构。通过实验证明,该结构可以通过手动重组能够较好的完成蛇形蠕动、履带形滚动和4足爬行3种运动步态。。
This paper presents a new kind of reconfigurable robot, which has the advantages of simpleness,convenience,and low cost. Based on the design of modular, so the robot can change itself into new shapes to suitable for many different tasks. Through the connecting and the disconnecting between modules, it can change into snake, track and four-legs and so on. The results show versatility, by demonstrating locomotion gait over a variety of terrain.
出处
《制造业自动化》
2004年第9期33-35,43,共4页
Manufacturing Automation
基金
国家"863"项目资助(2002AA422180)
关键词
重组
模块化
运动步态
reconfiguration
modular
locomotion gait
