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自重构模块化机器人系统的空间状态及运动的研究 被引量:1

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摘要 设计了一种新颖的同构式模块化自重构机器人系统,研究了该系统的空间状态,提出了一种基于图论的有序定点图以及特征向量矩阵法,该法能准确地描述单个模块在整个系统中的状态以及自重构机器人系统模块之间的空间拓扑连接关系.在此基础上,总结了自重构机器人模块的运动规则及描述方法,并给出了一个6模块自重构机器人系统的变形仿真例子,证明上述方法的可行性.
出处 《自然科学进展》 北大核心 2008年第11期1356-1360,共5页
基金 国家自然科学基金(批准号:50305021 50775145) 上海市自然科学基金(批准号:07ZR14050)资助项目
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