摘要
The eigenvector of a module with six adjacent module's state was constructed according to self-reconfigurable robot M-Cubes and the configuration of system was expressed with the eigenvectors of all modules.According to the configuration and motion characteristics of the modules,a 3-dimension motion rule set was provided.The rule sets of each module was run according to eigenvector of the module after the motion direction of system decided and motion rules were selected.At last,the rapid and effective motion and metamorphosis were realized in system.The rule sets are operated on three systems and the distributed motion of system is fully realized.The result of simulation shows that the 3-dimension motion rule sets has perfect applicability and extensibility.The motion steps and communication load of the modules increase with the module number in linear.
The eigenvector of a module with six adjacent module＇s state was constructed according to self-reconfigurable robot M-Cubes and the configuration of system was expressed with the eigenvectors of all modules. According to the configuration and motion characteristics of the modules, a 3-dimension motion rule set was provided. The rule sets of each module was run according to eigenvector of the module after the motion direction of system decided and motion rules were selected. At last, the rapid and effective motion and metamorphosis were realized in system. The rule sets are operated on three systems and the distributed motion of system is fully realized. The result of simulation shows that the 3-dimension motion rule sets has perfect applicability and extensibility. The motion steps and communication load of the modules increase with the module number in linear.
基金
The National Natural Science Foundation of China(No.50305021)
关键词
机器人
模块
特征向量
细胞自动机
modular self-reconfigurable robot （MSRR）
cellular automata
local rules
distributed control
