Survey on research and development of reconfigurable modular robots

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	Survey on research and development of reconfigurable modular robots
	Liu JG(刘金国); Zhang X(张鑫); Hao, Guangbo
刊名	ADVANCES IN MECHANICAL ENGINEERING
	2016
卷号	8 期号:8 页码:1-21
关键词	Reconfigurable modular robots characteristics of modules reconfiguration mechanism autonomy level applications
ISSN号	1687-8140
通讯作者	张鑫
产权排序	1
中文摘要	This article presents a comprehensive survey of reconfigurable modular robots, which covers the origin, history, the state of the art, key technologies, challenges, and applications of reconfigurable modular robots. An elaborative classification of typical reconfigurable modular robots is proposed based on the characteristics of the modules and the reconfiguration mechanism. As the system characteristics of reconfigurable modular robots are mainly dependent on the functions of modules, the mechanical and electrical design features of modules of typical reconfigurable modular robots are discussed in detail. Furthermore, an in-depth comparison analysis is conducted, which encompasses discussions of module shape, module degrees of freedom, module attribute, connection mechanisms, interface autonomy, locomotion modes, and workspace. Meanwhile, many reconfigurable modular robot researches focus on the study of self-X capabilities (i.e. self-reconfiguration, self-assembly, self-adaption, etc.), which embodies autonomy performance of reconfigurable modular robots in certain extent. An evolutionary cobweb evaluation model is proposed in this article to evaluate the autonomy level of reconfigurable modular robots. Although various reconfigurable modular robots have been developed and some of them have been put into practical applications such as search and rescue missions, there still exist many open theoretical, technical, and practical challenges in this field. This work is hopefully to offer a reference for the further developments of reconfigurable modular robots.
WOS标题词	Science & Technology ; Physical Sciences ; Technology
类目[WOS]	Thermodynamics ; Engineering, Mechanical
研究领域[WOS]	Thermodynamics ; Engineering
关键词[WOS]	SELF-RECONFIGURATION ; MULTIMODE LOCOMOTION ; MULTIROBOT SYSTEM ; M-TRAN ; DESIGN ; IMPLEMENTATION ; COOPERATION ; EXPLORATION
收录类别	SCI
语种	英语
WOS记录号	WOS:000385216600008
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/19373]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	Liu JG,Zhang X,Hao, Guangbo. Survey on research and development of reconfigurable modular robots[J]. ADVANCES IN MECHANICAL ENGINEERING,2016,8(8):1-21.
APA	Liu JG,Zhang X,&Hao, Guangbo.(2016).Survey on research and development of reconfigurable modular robots.ADVANCES IN MECHANICAL ENGINEERING,8(8),1-21.
MLA	Liu JG,et al."Survey on research and development of reconfigurable modular robots".ADVANCES IN MECHANICAL ENGINEERING 8.8(2016):1-21.