可变形模块化履带机器人构型转换原理与验证OACSTPCD

In order to realize that robots can overcome obstacles and complete tasks by changing their configurations in different environments,it is necessary to study the transformation between configurations of modularization shape-shiftable cybertracker.The robot has 27 configurations forming a configuration network,each of which is defined as a node in the weighted oriented configuration network.The conversion from one configuration to another is represen-ted by a directed path with a non-negative weight,all of which have a weight of 1.By using Floyd algorithm,the shortest number of steps and the intermediate configuration between any two configurations are obtained by iterative calculation of distance matrix and routing matrix.The results of the conversion between 27 different configurations of the variable configuration modular tracked robot and the response of different configurations to different environ-ments are given through the real experiments.The experimental results show that the robot can realize the mutual conversion between configurations through the shortest path,and with the different environment,the robot can change its own configuration to successfully overcome obstacles and complete tasks.