可变形模块化履带机器人构型转换原理与验证

Principle and verification of configuration transformation of modularization shape-shiftable cybertracked

为实现机器人在不同环境中能够通过改变自身构型跨越障碍并完成任务,需对可变形模块化履带机器人构型之间的相互转换进行研究。以具有27种构型的机器人为研究对象,该机器人构成一个构型网络,每种构型被定义为加权定向构型网络中的一个节点。从一种构型到另一种构型的转换由非负权值的有向路径表示,权值均为1。采用Floyd算法,通过对距离矩阵和路由矩阵的迭代计算,求出构型网络中任意2种构型之间相互转换的最短步数与经过的中间构型。实物实验给出了可变形模块化履带机器人27种构型之间的相互转换以及面对不同环境以不同的构型应对的结果。实验结果表明,该机器人可以通过最短路径实现构型之间的相互转换,并且随着所处环境的不同,机器人可以改变自身构型顺利跨越障碍并完成任务。

In order to realize that robots can overcome obstacles and complete tasks by changing their configurations in different environments,it is necessary to study the transformation between configurations of modularization shape-shiftable cybertracker.The robot has 27 configurations forming a configuration network,each of which is defined as a node in the weighted oriented configuration network.The conversion from one configuration to another is represen-ted by a directed path with a non-negative weight,all of which have a weight of 1.By using Floyd algorithm,the shortest number of steps and the intermediate configuration between any two configurations are obtained by iterative calculation of distance matrix and routing matrix.The results of the conversion between 27 different configurations of the variable configuration modular tracked robot and the response of different configurations to different environ-ments are given through the real experiments.The experimental results show that the robot can realize the mutual conversion between configurations through the shortest path,and with the different environment,the robot can change its own configuration to successfully overcome obstacles and complete tasks.