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模块化可变形机器人控制系统设计与变形方法研究 被引量：9

Control System Design and Shape Shifting Method for a Modular Shape-shifting Robot
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摘要 介绍了模块化可变形机器人控制系统的整体结构.控制系统的硬件和软件均采用了模块化结构的设计,增强了整个系统的可扩展性和容错性.针对该机器人的机构特点提出了一种新的变形方法———协同变形法.实验验证了控制系统的有效性和协同变形法的优越性. 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.
作者 王靖 李斌 马书根 刘金国
机构地区 中国科学院沈阳自动化所机器人学重点实验室 日本立命馆大学COE研究机构
出处 《机器人》 EI CSCD 北大核心 2006年第5期457-462,共6页 Robot
基金 国家863计划资助项目(2001AA422360)
关键词 模块化 可变形 机器人 CAN总线 控制系统 modular shape-shifting robot CAN bus control system
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献10

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机器人
2006年 第5期

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