东华大学学报（英文版）
東華大學學報（英文版）
동화대학학보（영문판）
JOURNAL OF DONG HUA UNIVERSITY(ENGLISH EDITION)
2004年
2期
124-129
,共6页
徐威%王高中%李倩%王石刚
徐威%王高中%李倩%王石剛
서위%왕고중%리천%왕석강
Self-reconfigurable Robots%Modular%Metamorphic rules%Self-organization
A self-reconfigurable robot is a non-linear complex system composed of a large number of modules. The complexity caused by non-linearity makes it difficult to solve the problem of module motion planning and shape-changing control with the traditional algorithm. In this paper, a full-discrete metamorphic algorithm is proposed. The modules concurrently process the local sensing information, update their eigenvector, and act by the same predetermined logical rules. Then a reasonable motion sequence for modules and the global metamorphosis can be obtained. Therefore, the complexity of metamorphic algorithm is reduced, the metamorphic procedure is simplified, and the self-organizing metamorphosis can be obtained. The algorithm cases of several typical systems are studied and evaluated through simulation program of 2-D planar homogeneous modular systems.
