Drivable workspace analysis of the reconfiguration mechanism in a mobile robots system

2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

Volumn , Issue , 2007, Pages 496-501

  Wang, Wei ^a   Zhang, Houxiang ^b   Fu, Hualei ^a   Zhang, Jianwei ^b   Zong, Guanghua ^a  

^a BEIHANG UNIVERSITY   (China)

^b UNIVERSITY OF HAMBURG   (Germany)

Author keywords

Parallel mechanism; Reconfigurable robot; Serial mechanism; Workspace

Indexed keywords

AUTOMATION; BIOMIMETICS; DIFFERENCE EQUATIONS; MOBILE ROBOTS; MOTORS; ROBOTICS; ROBOTS;

DRIVING MOTORS; INTERNATIONAL CONFERENCES; KINEMATICS EQUATIONS; LIMITED TORQUE; PARALLEL MECHANISM; RE-CONFIGURABLE; REAL PARAMETERS; RECONFIGURABLE ROBOT; RECONFIGURATION ACTIONS; SERIAL MECHANISM; STATIC TRANSFORMATION; TRANSFORMATION MATRICES; VIRTUAL WORKS; WORKSPACE; WORKSPACE ANALYSIS; WORLD COORDINATES;

MECHANISMS;

EID: 49249101302     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBIO.2007.4522212     Document Type: Conference Paper

References (13)

1. S. Hirose, A. Morishima, "Design and control of a mobile robot with an articulated body", The International Journal of Robotics Research, Vol. 9 No. 2, pp. 99-113, 1990
2. B. Klaassen, and K.L. Paap, "GMD-SNAKE2: a snake-like robot driven by wheels and a method for motion control", Proceedings of IEEE International Conference on Robotics and Automation, Detroit, MI, 10-15 May, pp. 3014-3019, 1999.
3. T. Takayama, S. Hirose, "Development of Souryu-I connected crawler vehicle for inspection of narrow and winding space", Proceeding of the 26th Annual Conference of the IEEE Industrial Electronics Society, Vol.1, pp.143-148, 2000.
4. T.Kamegawa, T. Yamasaki, H. Igarashi and F. Matsuno, "Development of the Snake-like Rescue Robot "KOHGA"", Proceedings of the 2004 IEEE International Conference on Robotics and Automation, pp. 5081-5086, 2004.
5. M. Yim, Y. Zhang and E. Mao, "Distributed control for 3D shape Metamorphosis", Autonomous Robots, Vol.10, No.1, pp.41-56, 2001.
6. S. Murata, E. Yoshida, A. Kamimura, H. Kurokawa, K. Tomita, S. Kokaji, "M-TRAN :Self-Reconfigurable Module Robotic System", IEEE/ASME Transactions on Mechatronics, Vol.7, No.4, pp.431-441, 2002.
7. J. Gonzalez-Gomez, H. Zhang, E. Boemo, J. Zhang, "Locomotion Capabilities of a Modular Robot with Eight Pitch-Yaw-Connecting Modules" , Proceeding of CLAWAR 2006, Brussels, Belgium, September 12-14, 2006.
8. H.B. Brown, et al, "Millibot Trains for Enhanced Mobility", IEEE/ASME Transactions on Mechantronics, Vol.7, No.4, pp.452-461, 2002.
9. M. Park, W. Chung, M. Kim, "Control of a mobile robot with passive multiple trailers", Proceedings of the 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA, United States, pp.4369-4374, Apr.-May 2004.
10. E. Sahin, T.H.Labella, et al. "SWARM-BOT: Pattern formation in a swarm of self-assembling mobile robots", Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, Yasmine Hammamet, Tunisia, October, 2002, pp.145-150, 2002.
11. Zong Guanghua, Deng Zhicheng, Wang Wei, "Realization of a Modular Reconfigurable Robot for Rough Terrain", 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006, Luoyang, China, pp. 289-294, June, 2006.
12. Houxiang Zhang, Zhicheng Deng, Wei Wang, Jianwei Zhang, Guanghua Zong, "Locomotion Capabilities of a Novel Reconfigurable Robot with 3 DOF Active Joints for Rugged Terrain", 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, pp. 10-15, Oct., 2006.
13. Wei Wang, Houxiang Zhang, Guanghua Zong, Jianwei Zhang, "Design and Realization of a Novel Reconfigurable Robot with Serial and Parallel Mechanisms", 2006 IEEE International Conference on Robotics and Biomimetics, Kunming, China, pp. 697-702, Dec., 2006.