Evaluation Method on Steering for the Shape-shifting Robot in Different Configurations

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	Evaluation Method on Steering for the Shape-shifting Robot in Different Configurations
	Chang J(常健); Li B(李斌); Wang C(王聪); Zheng HB(郑怀兵); Li ZQ(李志强)
刊名	CHINESE JOURNAL OF MECHANICAL ENGINEERING
	2016
卷号	29 期号:1 页码:21-32
关键词	shape-shifting robot steering mobility quantitative manner
ISSN号	1000-9345
通讯作者	常健
产权排序	1
中文摘要	The evaluation method on steering is based on qualitative manner in existence, which causes the result inaccurate and fuzziness. It reduces the efficiency of process execution. So the method by quantitative manner for the shape-shifting robot in different configurations is proposed. Comparing to traditional evaluation method, the most important aspects which can influence the steering abilities of the robot in different configurations are researched in detail, including the energy, angular velocity, time and space. In order to improve the robustness of system, the ideal and slippage conditions are all considered by mathematical model. Comparing to the traditional weighting confirming method, the extent of robot steering method is proposed by the combination of subjective and objective weighting method. The subjective weighting method can show more preferences of the experts and is based on five-grade scale. The objective weighting method is based on information entropy to determine the factors. By the sensors fixed on the robot, the contract force between track grouser and ground, the intrinsic motion characteristics of robot are obtained and the experiment is done to prove the algorithm which is proposed as the robot in different common configurations. Through the method proposed in the article, fuzziness and inaccurate of the evaluation method has been solved, so the operators can choose the most suitable configuration of the robot to fulfil the different tasks more quickly and simply.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Engineering, Mechanical
研究领域[WOS]	Engineering
关键词[WOS]	SELF-RECONFIGURATION ; URBAN SEARCH ; RESCUE
收录类别	SCI ; EI ; CSCD
语种	英语
WOS记录号	WOS:000367868100003
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/17618]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Chang J,Li B,Wang C,et al. Evaluation Method on Steering for the Shape-shifting Robot in Different Configurations[J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING,2016,29(1):21-32.
APA	Chang J,Li B,Wang C,Zheng HB,&Li ZQ.(2016).Evaluation Method on Steering for the Shape-shifting Robot in Different Configurations.CHINESE JOURNAL OF MECHANICAL ENGINEERING,29(1),21-32.
MLA	Chang J,et al."Evaluation Method on Steering for the Shape-shifting Robot in Different Configurations".CHINESE JOURNAL OF MECHANICAL ENGINEERING 29.1(2016):21-32.