一个简单的方法来控制运动中的自重构机器人-毕业设计外文文献翻译.docxVIP

英文原文A simple approach to the control oflocomotion in self-reconfigurable robotsK. St?y a,?, W.-M. Shen b, P.M. Will bThe Adaptronics Group, The Maersk Institute, University of Southern Denmark, Campusvej 55, DK-5230 Odense M, Denmark USC Information Sciences Institute and Computer Science Department, 4676 Admiralty Way, Marina del Rey, CA 90292, USA AbstractIn this paper we present role-based control which is a general bottom-up approach to the control of locomotion in self-reconfigurable robots. We use role-based control to implement a caterpillar, a sidewinder, and a rolling track gait in the CONRO self-reconfigurable robot consisting of eight modules. Based on our experiments and discussion we con-clude that control systems based on role-based control are minimal, robust to communication errors, and robust to recon-figuration.? 2003 Elsevier Science B.V. All rights reserved.Keywords: Self-reconfigurable robots; Locomotion; Role-based control1. IntroductionReconfigurable robots are robots made from a pos-sibly large number of independent modules connected to form a robot. If the modules from which the re-configurable robot is built are able to connect and disconnect without human intervention the robot is a self-reconfigurable robot. Refer to Fig. 1 for an exam-ple of a module of a self-reconfigurable robot or refer to one of the other physical realized systems described in [7,8,10–15,17,21,23] .Several potential advantages of self-reconfigurable robots over traditional robots have been pointed out in literature:Versatility. The modules can be combined in differ-ent ways making the same robotic system able to perform a wide range of tasks. Adaptability. While the self-reconfigurable robotperforms its task it can change its physical shape to adapt to changes in the environment. Robustness. Self-reconfigurable robots consist ofmany identical modules and therefore if a module fails it can be replaced by another. Cheap production. When the final design for thebasic mo