Morphing Motion in Modular Robots

作者：Yanqiong, Fei^*; Yong, Wang

来源：WSEAS Transactions on Systems and Control, 2011, 6(8): 304-313.

• Geometric feature
• Geometric relationships
• Group theory
• Matrix exponentials
• Modules
• Morphing
• Motion
• Rotary motions
• Transformation matrices

Two kinds of basic modules are presented to set up the modular robots. One is the cuboid module, the other is the cubic module. Four connecting types of cuboid modules and two connecting types of cubic modules are analyzed based on their geometric feature. For deriving the transformation matrix of each connecting type, the concepts of basic group are proposed. Then, the geometric relationships of each connecting type are derived with the group theory. The basic motion of modules is presented. With the rotary motion around the neighboring module, the morphing motion from a quadruped to two-leg modular robot is shown and the kinematics of modular robots is generated with product of matrix exponentials. Examples of kinematics on a quadruped and a two-leg modular robot are given to demonstrate the applicability of the proposed methods.

• 出版日期2011
• 单位上海交通大学