Research on self-reconfiguration strategy of modular spherical robot

Self-reconfigurable robot is a complex system composed of multiple modular robots. Aiming at high efficiency and low energy consumption of self-reconfigurable robot configuration transformation, a self-reconfiguration strategy based on module mapping of the common parts is proposed. This strategy de...

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Bibliographic Details
Published in:International journal of advanced robotic systems 2022-03, Vol.19 (2)
Main Authors: Sun, Hanxu, Li, Mingzhe, Song, Jingzhou, Wang, Yun
Format: Article
Language:English
Subjects:
Complex systems
Configurations
Energy consumption
Modular systems
Modules
Nodes
Reconfiguration
Robots
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Summary:Self-reconfigurable robot is a complex system composed of multiple modular robots. Aiming at high efficiency and low energy consumption of self-reconfigurable robot configuration transformation, a self-reconfiguration strategy based on module mapping of the common parts is proposed. This strategy describes the configuration of the robot in the form of a graph, and a method to determine the central node of configuration is proposed. The central node module as the starting node for comparison of different configurations, and the common part between the two configurations is reserved. Then the module closest to the target module is searched, the target configuration is reconfigured from the inside to the outside with the minimum energy consumption constraint. Finally, based on the experiment results, compared with other self-reconfiguration strategies, the proposed self-reconfiguration strategy reduces the times of reconfiguration operations and improves the reconfiguration efficiency.
ISSN:1729-8806
1729-8814
DOI:10.1177/17298806221081665