[1] Qiao Guifang, Song Guangming, Zhang Ying, Sun Huiyu, et al. Design of a novel modular self-reconfigurable robotcapable of self-turning [J]. Journal of Southeast University (English Edition), 2016, 32 (3): 293-300. [doi:10.3969/j.issn.1003-7985.2016.03.006]

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Design of a novel modular self-reconfigurable robotcapable of self-turning()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

32

Issue:

2016 3

Page:

293-300

Research Field:

Automation

Publishing date:

2016-09-20

Info

Title:

Design of a novel modular self-reconfigurable robotcapable of self-turning

Author(s):

Qiao Guifang;  Song Guangming;  Zhang Ying;  Sun Huiyu;  Wei Zhong

School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China

Keywords:

central pattern generator;  modular self-reconfigurable robot;  structural design;  motion simulation

PACS:

TP242.6

DOI:

10.3969/j.issn.1003-7985.2016.03.006

Abstract:

To solve the problem of inaccurate angle adjustment in the self-assembly process, a new homogenous hybrid modular self-reconfigurable robot—Xmobot is designed. Each module has four rotary joints and a self-turning mechanism. With the proposed self-turning mechanism, the angle adjusting accuracy of the module is increased to 2°, and the relative position adjusting efficiency of the module in the self-assembly process is also improved. The measured maximum moving distance of the proposed module in a gait cycle is 11.0 cm. Aiming at the multiple degree of freedom(MDOF)feature of the proposed module, a motion controller based on the central pattern generator(CPG)is proposed. The control of five joints of the module only requires two CPG oscillators. The CPG-based motion controller has three basic output modes, i.e. the oscillation, the rotation, and the fixed modes. The serpentine and the wheeled movements of the H-shaped robot are simulated, respectively. The results show that the average velocities of the two movements are 15.2 and 20.1 m/min, respectively. The proposed CPG-based motion controller is evaluated to be effective.

References:

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Memo

Memo:

Biographies: Qiao Guifang(1987—), male, doctor; Song Guangming(corresponding author), male, doctor, professor, mikesong@seu.edu.cn.
Foundation items: The National Natural Science Foundation of China(No.61375076), Research & Innovation Program for Graduate Student in Universities of Jiangsu Province(No.CXLX13-085), the Scientific Research Foundation of Graduate School of Southeast University(No.YBJJ1350).
Citation: Qiao Guifang, Song Guangming, Zhang Ying, et al. Design of a novel modular self-reconfigurable robot capable of self-turning[J].Journal of Southeast University(English Edition), 2016, 32(3):293-300.DOI:10.3969/j.issn.1003-7985.2016.03.006.

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