NDLI: Simulation Research on Reconfiguration Locomotion Planning for a 3-D Self-reconfigurable Robot

Content Provider	IEEE Xplore Digital Library
Author	Yuhua Zhang Yanhe Zhu Jihong Yan Jie Zhao Hegao Cai
Copyright Year	2006
Description	Author affiliation: Robotics Inst., Harbin Inst. of Technol. (Yuhua Zhang; Yanhe Zhu; Jihong Yan; Jie Zhao; Hegao Cai)
Abstract	Self-reconfigurable robot consists of numerous modules. It has various configurations and multiform locomotion modes. How to describe its configurations and how to plan its locomotion are difficult problems. To solve these problems, a novel description of modules and their surroundings was presented and modular locomotion rule base was established. Based on the rule base, a reconfiguration locomotion planning algorithm combined heuristic search with limited-horizon search was proposed for a self-reconfigurable robot HitMSR. In heuristic search second selecting method was adopted to minimize search space. Simulation results indicated that the algorithm can generate reconfiguration locomotion series automatically and efficiently in complex environments for 3-D self-reconfigurable robot with any initial configuration
Starting Page	9178
Ending Page	9182
File Size	252430
Page Count	5
File Format	PDF
ISBN	1424403324
DOI	10.1109/WCICA.2006.1713776
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-21
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Orbital robotics Robotics and automation Technology planning Heuristic algorithms Intelligent control second selecting self-reconfigurable robot reconfiguration planning heuristic search
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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