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水下分散自重构机器人硬件设计 被引量：6

Hardware Design of an Underwater Self-reconfigurable Robot
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摘要 开发了水下自重构机器人(underwater self-reconfigurable robot,USR)样机模块.详细介绍了USR样机的舵机系统、浮力调节系统、对接系统和单片机控制系统等设计.通过试验检验了USR运动和自重构的能力. The prototype of an underwater self-reconfigurable robot （USR） system is developed, and the hardware design of its engine control system, buoyancy control system, docking control system and MCU control system is presented in detail. Its capability of locomotion and self-reconfiguration is examined through experiments.
作者 高仁云 吴超 葛彤
机构地区 上海交通大学船舶海洋与建筑工程学院
出处 《机器人》 EI CSCD 北大核心 2007年第3期239-243,249,共6页 Robot
基金 国家863计划资助项目(2001AA616090) 国家自然科学基金资助项目(60104001)
关键词 分散 自重构 模块 硬件设计 distributed self-reconfigurable module hardware design
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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机器人
2007年 第3期

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