摘要
研制了一种模块化可重构履带式微小型机器人.单个微小型机器人可以独立运行,多个微小型机器人可以重构成链形机器人和环形机器人.微小型机器人结构紧凑、体积小、重量轻.采用了微控制器和PC机两级控制体系,两级间采用蓝牙通讯.实验结果验证链形机器人具有较强的越障能力,能爬越楼梯;环形机器人具有高速及路面适应能力强的特点.
A modular reconfigurable tracked micro-robot is proposed. Each single micro-module can run separately, and several micro-modules can be reconfigured into a chain-shaped robot or a loop-shaped robot. The robot is compact, small and light. A hierarchical control architecture is adopted, which comprises of a microprocessor level and a PC level and communicates through blue-tooth between two levels. Experiments verify that the chain-shaped robot has a strong obstacle-climbing capability, and can climb stairs; and that speed and adaptability of the loop-shaped robot are good.
出处
《机器人》
EI
CSCD
北大核心
2006年第5期548-552,共5页
Robot
基金
国家863计划资助项目(2004AA420110)
黑龙江省科技攻关计划资助项目(GB04A502)
关键词
微小型机器人
可重构
模块化
越障
micro-robot
reconfigurable
modular
obstacle climbing
