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A novel mobile self-reconfigurable robot is presented.This robot consists of several independentunits.Each unit is composed of modular components including ultrasonic sensor,camera,communica-tion,computation,and mobility parts,and is capable of simple self-reconfiguring to enhance its mobilityby expanding itself.Several units can not only link into a train or oilier shapes autonomously via cameraand sensors to be a united whole robot for obstacle clearing,but also disjoin to be separate units undercontrol after missions.To achieve small overall size,compact mechanical structures are adopted in modu-lar components design,and a miniature advanced RISC machines(ARM)based embedded controller isdeveloped for minimal power consumption and efficient global control.The docking experiment betweentwo units has also been implemented.
A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communica- tion, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobilityby expanding itself. Seiveral units can not only link into a train or oilier shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units undercontrol after missions. To achieve small overall size, compact mechanical Structures are adopted in modu-lar components design, and miniature advanced RISC machines (ARM) based embedded controller isdeveloped for minimal power consumption and efficient global control. docking experiment betweentwo units has also been implemented.