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Article: The design of a representation and analysis method for modular self-reconfigurable robots

TitleThe design of a representation and analysis method for modular self-reconfigurable robots
Authors
KeywordsGraph Theory
Incidence matrices
Modular robots
Neutral docking
Robot topology
Self-reconfigurations
Issue Date2008
PublisherPergamon. The Journal's web site is located at http://www.elsevier.com/locate/rcim
Citation
Robotics And Computer-Integrated Manufacturing, 2008, v. 24 n. 2, p. 258-269 How to Cite?
AbstractFor Modular Self-Reconfigurable (MSR) robots to successfully reconfigure themselves, the control system must have the robot's topological structure before, during and after the reconfiguration process. Therefore, the module's docking status such as the docking orientation and the availability of docking ports must be ascertained before self-configuration takes place. This paper presents a representation method, based on labelled planar graphs and incidence matrices to represent the topologic structure of a group of connected modules. Essential information such as the orientations of the docked joints and docking ports are obtained from the labelled graph for reconfiguration. An innovative Hardware Orientation Detecting System (HODS) is proposed for detecting the orientation between two docking ports, which can be applied to all multi-orientation docking systems. An analytical method is also presented to determine whether a structure has enough degrees-of-freedom to perform self-reconfiguration. © 2007 Elsevier Ltd. All rights reserved.
Persistent Identifierhttp://hdl.handle.net/10722/74276
ISSN
2015 Impact Factor: 2.077
2015 SCImago Journal Rankings: 1.621
ISI Accession Number ID
References

 

DC FieldValueLanguage
dc.contributor.authorLau, HYKen_HK
dc.contributor.authorKo, AWYen_HK
dc.contributor.authorLau, TLen_HK
dc.date.accessioned2010-09-06T06:59:41Z-
dc.date.available2010-09-06T06:59:41Z-
dc.date.issued2008en_HK
dc.identifier.citationRobotics And Computer-Integrated Manufacturing, 2008, v. 24 n. 2, p. 258-269en_HK
dc.identifier.issn0736-5845en_HK
dc.identifier.urihttp://hdl.handle.net/10722/74276-
dc.description.abstractFor Modular Self-Reconfigurable (MSR) robots to successfully reconfigure themselves, the control system must have the robot's topological structure before, during and after the reconfiguration process. Therefore, the module's docking status such as the docking orientation and the availability of docking ports must be ascertained before self-configuration takes place. This paper presents a representation method, based on labelled planar graphs and incidence matrices to represent the topologic structure of a group of connected modules. Essential information such as the orientations of the docked joints and docking ports are obtained from the labelled graph for reconfiguration. An innovative Hardware Orientation Detecting System (HODS) is proposed for detecting the orientation between two docking ports, which can be applied to all multi-orientation docking systems. An analytical method is also presented to determine whether a structure has enough degrees-of-freedom to perform self-reconfiguration. © 2007 Elsevier Ltd. All rights reserved.en_HK
dc.languageengen_HK
dc.publisherPergamon. The Journal's web site is located at http://www.elsevier.com/locate/rcimen_HK
dc.relation.ispartofRobotics and Computer-Integrated Manufacturingen_HK
dc.subjectGraph Theoryen_HK
dc.subjectIncidence matricesen_HK
dc.subjectModular robotsen_HK
dc.subjectNeutral dockingen_HK
dc.subjectRobot topologyen_HK
dc.subjectSelf-reconfigurationsen_HK
dc.titleThe design of a representation and analysis method for modular self-reconfigurable robotsen_HK
dc.typeArticleen_HK
dc.identifier.emailLau, HYK:hyklau@hkucc.hku.hken_HK
dc.identifier.emailKo, AWY:albertko@hku.hken_HK
dc.identifier.emailLau, TL:tllau@hkucc.hku.hken_HK
dc.identifier.authorityLau, HYK=rp00137en_HK
dc.identifier.authorityKo, AWY=rp00124en_HK
dc.identifier.authorityLau, TL=rp00138en_HK
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1016/j.rcim.2006.11.003en_HK
dc.identifier.scopuseid_2-s2.0-36148998679en_HK
dc.identifier.hkuros160508en_HK
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-36148998679&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.volume24en_HK
dc.identifier.issue2en_HK
dc.identifier.spage258en_HK
dc.identifier.epage269en_HK
dc.identifier.isiWOS:000252904500009-
dc.publisher.placeUnited Kingdomen_HK
dc.identifier.scopusauthoridLau, HYK=7201497761en_HK
dc.identifier.scopusauthoridKo, AWY=22334217900en_HK
dc.identifier.scopusauthoridLau, TL=7102222436en_HK
dc.identifier.citeulike2773591-

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