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Journal of Zhejiang University SCIENCE A 2006 Vol.7 No.3 P.368~373


Mechanical design and locomotion control of a homogenous lattice modular self-reconfigurable robot

Author(s):  Xia Ping, Zhu Xin-jian, Fei Yan-qiong

Affiliation(s):  School of Electronics and Information Technology, Shanghai Jiao Tong University, Shanghai 200030, China; more

Corresponding email(s):   xiaping@sjtu.edu.cn

Key Words:  Robot, Module, Self-reconfigurable, Locomotion control

Xia Ping, Zhu Xin-jian, Fei Yan-qiong. Mechanical design and locomotion control of a homogenous lattice modular self-reconfigurable robot[J]. Journal of Zhejiang University Science A, 2006, 7(3): 368~373.

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author="Xia Ping, Zhu Xin-jian, Fei Yan-qiong",
journal="Journal of Zhejiang University Science A",
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%A Xia Ping
%A Zhu Xin-jian
%A Fei Yan-qiong
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%DOI 10.1631/jzus.2006.A0368

T1 - Mechanical design and locomotion control of a homogenous lattice modular self-reconfigurable robot
A1 - Xia Ping
A1 - Zhu Xin-jian
A1 - Fei Yan-qiong
J0 - Journal of Zhejiang University Science A
VL - 7
IS - 3
SP - 368
EP - 373
%@ 1673-565X
Y1 - 2006
PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.2006.A0368

In this paper, we propose a novel, 3D, like cubic shape, modular self-reconfigurable (MSR) robot named M-Cubes. Its key mechanical components are analyzed in detail. By communicating with the neighboring modules, each unit employs its automatic lock device composed of a pin and a hole on each connection plane which can connect or disconnect with neighboring modules. The M-Cubes system consisting of many identical modules cooperates to change their connection, and then the whole structure transforms into arbitrary structure. Furthermore, we describe its locomotion control based on the driving function and the adjacency matrix which is effective for solving the computationally difficult problem and optimizing the system motion path during the self-reconfiguration process. Finally, a simulation experiment using java 3D technology, proved the new method for controlling modular robot is robust and useful.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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