高技术通讯（英文版）2007，Vol.13Issue(1)：12-16,5.
Mechanism design and motion planning of M-Cubes robot
Mechanism design and motion planning of M-Cubes robot
摘要
Abstract
A homogeneous and lattice self-reconfigurable robot module is designed, and each module is composed of a center body and six connection planes which can independently rotate. A module can independently connect or disconnect with other modules, and then change its connection by collaborating with other modules. We discuss how to describe and discover configuration of robot. Furthermore, we describe its motion planning based on the appraisal function and the adjacency matrix which is effective to solve the computationally difficult problem and optimize the system motion path during the self-reconfiguration process. Finally, a simulation experiment is demonstrated, which verifies the correctness of locomotion method.关键词
robot/module/self-reconfigurable/motion planningKey words
robot/module/self-reconfigurable/motion planning分类
信息技术与安全科学引用本文复制引用
Xia Ping,Zhu Xinjian,Fei Yanqiong,Xu Bing..Mechanism design and motion planning of M-Cubes robot[J].高技术通讯（英文版）,2007,13(1):12-16,5.基金项目
Supported by the National Natural Science Foundation of China(No.50305021). （No.50305021）
