Serpenoid polygonal rolling for chain-type modular robots: A study of modeling, pattern switching and application
详细信息 查看全文
- 作者：Xiaolu Wang ; Hongzhe Jin ; Yanhe Zhu ; yhzhu@hit.edu.cn" class="auth_mail" title="E-mail the corresponding author ; Bangxiang Chen ; Dongyang Bie ; Yu Zhang ; Jie Zhao
- 关键词：Serpenoid polygon ; Rolling plan ; Modular robots ; Locomotion
- 刊名：Robotics and Computer-Integrated Manufacturing
- 出版年：2016
- 出版时间：June 2016
- 年：2016
- 卷：39
- 期：Complete
- 页码：56-67
- 全文大小：3645 K
文摘
- •
A serpenoid polygonal rolling model is proposed for articulated modular robots.
- •
The outer shape can be changed to adapt to varying environments and tasks.
- •
Investigating switching among various loop patterns facilitates the model application.
- •
The effectiveness is validated by physical experiments.
- •
The model is scalable and can be implemented in similar modular robots.