The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 53-342
Full Name: Yanqiong Fei
Position: Associate Professor
Age: ON
Sex: Female
Address: Research Institute of Robotics,Shanghai Jiaotong University,Dongchuan Road 800,Shanghai,200240
Country: CHINA
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E-mail address: fyq@sjtu.edu.cn
Other E-mails: fyq@mit.edu
Title of the Paper: Morphing Motion in Modular Robots
Authors as they appear in the Paper: Yanqiong Fei , Yong Wang
Email addresses of all the authors: fyq@sjtu.edu.cn
Number of paper pages: 10
Abstract: 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.
Keywords: Modules, Robot, Kinematics, Morphing, Motion
EXTENSION of the file: .pdf
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How Did you learn about congress: Robotics,Modeling and Simulation,Mechatronics,Manufacturing Systems,Non-linear Systems,Motion
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