360botG2 - An improved unit of mobile self-assembling modular robotic system aiming at exploration in real world

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	360botG2 - An improved unit of mobile self-assembling modular robotic system aiming at exploration in real world
	Cao YJ(曹燕军); Leng YQ(冷雨泉); Sun JY(孙金云); Zhang Y(张阳); Ge, Weimin
	2015
会议名称	41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
会议日期	November 9-12, 2015
会议地点	Yokohama, Japan
页码	1716-1722
中文摘要	An improved unit module of a novel mobile self-assembling modular robotic system is presented in this paper. Two continuous rotational DoFs are used in each module to implement both valuable self-locomotion and flexible reconfiguration. To achieve efficient exploration, unit module can implement two-dimensional locomotion independently and freely in a range of surface conditions in real world, even in environments with certain terrain challenges. With the help of three active connection mechanisms (ACMs), the module has great potential in assembling and reconfiguration to form complex three-dimensional structures. Preliminary locomotion tests in different environments demonstrate its effective mobility and potential applications for exploration. Several useful and easy realized configurations are explained with simulations at last.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE Industrial Electonics Society (IES)
会议录	IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	1553-572X
ISBN号	978-1-4799-1762-4
WOS记录号	WOS:000382950701133
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/18718]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	Cao YJ,Leng YQ,Sun JY,et al. 360botG2 - An improved unit of mobile self-assembling modular robotic system aiming at exploration in real world[C]. 见:41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015. Yokohama, Japan. November 9-12, 2015.