摘要
Cooperative Reconfiguration for a Reconfigurable Mobile Robot LIU Tonglin, WU Chengdong, LI Bin, LIU Jinguo （1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School, Chinese Academy of Sciences, Beijing 100049, China; 3. School of Information Science ＆ Engineering, Northeast University, Shenyang 110004, China）Abstract： A main characteristic of the reconfigurable mobile robot AMOEBA-1 is that it has diverse configurations, but some reconfigurations are difficult to realize under the influence of ground conditions. A cooperative reconfiguration method is proposed to reduce reconfiguration resistance and enhance the adaptability of the robot to the environment. The mathematical model is established correspondingly. The kinematics and mechanical properties of each section of the robot are analyzed. A part of resistance is transformed into active force of reconfiguration, and transforms are actualized among five specific configurations. Further, the linearization of model based on a perturbation analysis method is used to reduce the computational complexity. Finally, an evaluation criterion is proposed for AMOEBA-I＇s cooperative reconfiguration performance. The validity of the cooperative reconfiguration method is proved by simulations and experiments.
Cooperative Reconfiguration for a Reconfigurable Mobile Robot LIU Tonglin, WU Chengdong, LI Bin, LIU Jinguo （1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School, Chinese Academy of Sciences, Beijing 100049, China; 3. School of Information Science ＆ Engineering, Northeast University, Shenyang 110004, China）Abstract： A main characteristic of the reconfigurable mobile robot AMOEBA-1 is that it has diverse configurations, but some reconfigurations are difficult to realize under the influence of ground conditions. A cooperative reconfiguration method is proposed to reduce reconfiguration resistance and enhance the adaptability of the robot to the environment. The mathematical model is established correspondingly. The kinematics and mechanical properties of each section of the robot are analyzed. A part of resistance is transformed into active force of reconfiguration, and transforms are actualized among five specific configurations. Further, the linearization of model based on a perturbation analysis method is used to reduce the computational complexity. Finally, an evaluation criterion is proposed for AMOEBA-I＇s cooperative reconfiguration performance. The validity of the cooperative reconfiguration method is proved by simulations and experiments.
