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| Study on Distributed Motion of Self-Reconfigurable Robot Based on Local Rules | |
| 作者姓名： | 吴秋轩 曹广益 田华英 费燕琼 |
| 作者单位： | Inst.of Automation Hangzhou Dianzi Univ.，Research Inst.of Fuelcell，Shanghai Jiaotong Univ.，Research Inst.of Fuelcell，Shanghai Jiaotong Univ.，Inst.of Robot，Shanghai Jiaotong Univ.，Hangzhou 310018，China，Research Inst.of Fuelcell，Shanghai Jiaotong Univ.，Shanghai 200030，China，Shanghai 200030，China，Shanghai 200030，China，Shanghai 200030，China |
| 摘 要： | The eigenvector of a module with six adjacent module's state was constructed according to self-reconfigurable robot M-Cubes and the configuration of system was expressed with the eigenvectors of all modules.According to the configuration and motion characteristics of the modules,a 3-dimension motion rule set was provided.The rule sets of each module was run according to eigenvector of the module after the motion direction of system decided and motion rules were selected.At last,the rapid and effective motion and metamorphosis were realized in system.The rule sets are operated on three systems and the distributed motion of system is fully realized.The result of simulation shows that the 3-dimension motion rule sets has perfect applicability and extensibility.The motion steps and communication load of the modules increase with the module number in linear. |
| 关 键 词： | 机器人 模块 特征向量 细胞自动机 |
| 文章编号： | 1007-1172（2007）02-0164-08 |
| 修稿时间： | 2006-03-20 |
Study on Distributed Motion of Self-Reconfigurable Robot Based on Local Rules |
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| WU Qiu-xuan,CAO Guang-yi,TIAN Hua-ying,FEI Yan-qiong.Study on Distributed Motion of Self-Reconfigurable Robot Based on Local Rules[J].Journal of Shanghai Jiaotong university,2007,12(2):164-171. | |
| Authors: | WU Qiu-xuan CAO Guang-yi TIAN Hua-ying FEI Yan-qiong |
| Institution: | 1. Inst. of Automation, Hangzhou Dianzi Univ. , Hangzhou 310018, China;Research Inst. of Fuelcell, Shanghai Jiaotong Univ. , Shanghai 200030, China 2. Research Inst. of Fuelcell, Shanghai Jiaotong Univ. , Shanghai 200030, China 3. Inst. of Robot, Shanghai Jiaotong Univ. , Shanghai 200030, China |
| Abstract: | The eigenvector of a module with six adjacent module's state was constructed according to self-reconfigurable robot M-Cubes and the configuration of system was expressed with the eigenvectors of all modules.According to the configuration and motion characteristics of the modules,a 3-dimension motion rule set was provided.The rule sets of each module was run according to eigenvector of the module after the motion direction of system decided and motion rules were selected.At last,the rapid and effective motion and metamorphosis were realized in system.The rule sets are operated on three systems and the distributed motion of system is fully realized.The result of simulation shows that the 3-dimension motion rule sets has perfect applicability and extensibility.The motion steps and communication load of the modules increase with the module number in linear. |
| Keywords: | modular self-reconfigurable robot (MSRR) cellular automata local rules distributed control |
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