Modular Robotic Design and Reconfiguring Path Planning
Source abstract
Abstract
The modular robot is becoming a prevalent research object in robots because of its unique configuration advantages and performance characteristics. It is possible to form robot configurations with different functions by reconfiguring functional modules. This paper focuses on studying the modular robot’s configuration design and self-reconfiguration process and hopes to realize the industrial application of the modular self-reconfiguration robot to a certain extent. We design robotic configurations with different DOF based on the cellular module of the hexahedron and perform the kinematic analysis of the structure. An innovative design of a modular reconfiguration platform for conformational reorganization is presented, and the collaborative path planning between different modules in the reconfiguration platform is investigated. We propose an optimized ant colony algorithm for reconfiguration path planning and verify the superiority and rationality of this algorithm compared with the traditional ant colony algorithm for platform path planning through simulation experiments.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Modular Robots and Swarm Intelligence · Soft Robotics and Applications · Micro and Nano Robotics
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Key Laboratory of Advanced Manufacturing Intelligent Technology of Ministry of Education, Harbin University of Science and Technology, Harbin 150080, China
Funding
Natural Science Foundation of China · Natural Science Foundation of Heilongjiang Province of China · Postdoctoral Scientific Research Developmental Fund of Heilongjiang Province of China · Fundamental Research Foundation for Universities of Heilongjiang Province, China
References (33)
Show source-provided references
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