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Design and realization of control system for reconfigurable multi-segment robot

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3 Author(s)
Wei Wang ; Robotics Institute, Beihang University, Beijing, China, 100083 ; Jie Xia ; Zhicheng Deng

Multi-segment robotpsilas adaptation to rough terrain is much better than traditional single robot, because of the force cooperation between segments. One kind of multi-segment robot can undock to modules, which have the ability of locomotion and perform some simple tasks. JL-1 robot is one of this kind of robots. The most notable characteristics of this robot are module-based and reconfigurable, which require the control system of this robot to meet some special tasks. In this paper, we propose a distributed control system with two levels of hardware controllers and module hierarchical software architecture to fulfill the demands of information sharing, force cooperation and non-contradictive velocity control. Furthermore, the results of experiment are shown to demonstrate its performance.

Published in:

2008 IEEE International Conference on Automation and Logistics

Date of Conference:

1-3 Sept. 2008