Configuration analysis of a reconfigurable Rubik's snake robot

doi:10.1177/0954406218805112

CORC > 金属研究所 > 中国科学院金属研究所

	Configuration analysis of a reconfigurable Rubik's snake robot
	Liu, Jinguo 3,4; Zhang, Xin 1,3,4; Zhang, Ketao 5; Dai, Jian S.5; Li, Shujun 2; Sun, Qi 2
刊名	PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
	2019-05-01
卷号	233 期号:9 页码:3137-3154
关键词	Reconfigurable modular robot configuration analysis valid configurations configuration representation motion sequence matrix
ISSN号	0954-4062
DOI	10.1177/0954406218805112
通讯作者	Liu, Jinguo(liujinguo@sia.cn) ; Zhang, Xin(zhangxin@sia.cn)
英文摘要	Versatility and adaptability are the most prominent advantages of reconfigurable modular robotic systems. Unlike integrated robotic systems, reconfigurable modular robots can be rearranged to adapt to unpredictable environments. This paper presents a novel reconfigurable modular robot inspired by the Rubik's snake toy. For this reconfigurable Rubik's snake robot, the special feature is that it can work as not only a mechanism but also as a reconfigurable structure. In this paper, the configuration analysis is the core content. The concept of valid configurations is proposed to describe valid, controllable, and non-interference configurations. The configuration analysis theories are introduced in accordance with the configuration representation, the isomorphism analysis, the interference analysis, and the motion sequence analysis. Here, the configuration representation is proposed to define the position and orientation of two modules by using the adjacency matrix and the binary digital code, respectively. The equivalent digital code and the configuration ring are used to distinguish the same or symmetric configurations for the open and closed isomorphism configurations, respectively. Meanwhile, a case study is conducted to verify the effectiveness of the isomorphism analysis. Furthermore, the working space interference method is introduced to detect the interference issue in the process of forming target configurations. To accomplish a target configuration properly, the motion sequence matrix is defined to describe the motion sequence for achieving a target configuration. Finally, an experiment on the configuration transformation is demonstrated to verify the rationality and correctness of the theories of configuration analysis.
资助项目	National Natural Science Foundation of China[51505470] ; National Natural Science Foundation of China[51775541] ; Key Research Program of the Chinese Academy of Sciences[Y4A3210301] ; State Key Laboratory of Robotics of China[2015-O04]
WOS研究方向	Engineering
语种	英语
出版者	SAGE PUBLICATIONS LTD
WOS记录号	WOS:000464526500014
资助机构	National Natural Science Foundation of China ; Key Research Program of the Chinese Academy of Sciences ; State Key Laboratory of Robotics of China
内容类型	期刊论文
源URL	[http://ir.imr.ac.cn/handle/321006/132809]
专题	金属研究所_中国科学院金属研究所
通讯作者	Liu, Jinguo; Zhang, Xin
作者单位	1.Univ Chinese Acad Sci, Beijing, Peoples R China 2.Northeastern Univ, Lege Mech Engn & Automat, Shenyang, Liaoning, Peoples R China 3.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Liaoning, Peoples R China 4.Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang, Liaoning, Peoples R China 5.Univ London, Kings Coll London, London, England
推荐引用方式 GB/T 7714	Liu, Jinguo,Zhang, Xin,Zhang, Ketao,et al. Configuration analysis of a reconfigurable Rubik's snake robot[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,2019,233(9):3137-3154.
APA	Liu, Jinguo,Zhang, Xin,Zhang, Ketao,Dai, Jian S.,Li, Shujun,&Sun, Qi.(2019).Configuration analysis of a reconfigurable Rubik's snake robot.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,233(9),3137-3154.
MLA	Liu, Jinguo,et al."Configuration analysis of a reconfigurable Rubik's snake robot".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 233.9(2019):3137-3154.