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1、英文原文AsimpleapproachtothecontroloflocomotioninselfreconfigurablerobotsK.Stya?W.M.ShenbP.M.WillbaTheAdaptronicsGroupTheMaerskInstituteUniversityofSouthernDenmarkCampusvej55DK5230OdenseMDenmarkbUSCInfmationSciencesInstitute

2、ComputerScienceDepartment4676AdmiraltyWayMarinadelReyCA90292USAAbstractInthispaperwepresentrolebasedcontrolwhichisageneralbottomupapproachtothecontroloflocomotioninselfreconfigurablerobots.Weuserolebasedcontroltoimplemen

3、tacaterpillarasidewinderarollingtrackgaitintheCONROselfreconfigurablerobotconsistingofeightmodules.Basedonourexperimentsdiscussionweconcludethatcontrolsystemsbasedonrolebasedcontrolareminimalrobusttocommunicationerrsrobu

4、sttoreconfiguration.?2003ElsevierScienceB.V.Allrightsreserved.Keywds:SelfreconfigurablerobotsLocomotionRolebasedcontrol1.IntroductionReconfigurablerobotsarerobotsmadefromapossiblylargenumberofindependentmodulesconnectedt

5、ofmarobot.Ifthemodulesfromwhichthereconfigurablerobotisbuiltareabletoconnectdisconnectwithouthumaninterventiontherobotisaselfreconfigurablerobot.RefertoFig.1fanexampleofamoduleofaselfreconfigurablerobotrefertooneoftheoth

6、erphysicalrealizedsystemsdescribedin[7810–15172123].Severalpotentialadvantagesofselfreconfigurablerobotsovertraditionalrobotshavebeenpointedoutinliterature:?Versatility.Themodulescanbecombinedindifferentwaysmakingthesame

7、roboticsystemabletoperfmawiderangeoftasks.?Adaptability.Whiletheselfreconfigurablerobotperfmsitstaskitcanchangeitsphysicalshapetoadapttochangesintheenvironment.?Robustness.Selfreconfigurablerobotsconsistofmanyidenticalmo

8、dulestherefeifamodulefailsitcanbereplacedbyanother.?Cheapproduction.Whenthefinaldesignfthebasicmodulehasbeenobtaineditcanbemassproduced.Therefethecostoftheindividualmodulecanbekeptrelativelylowinspiteofitscomplexity.isde

9、sirabletohavehomogeneoussoftwarerunningonallthemodulesbecauseitmakesitpossiblefanymoduletotakeoverifanotheronefails.Itisanopenquestionifatopdownabottomupapproachgivesthebestresult.Wefindthatitisdifficulttodesignthesystem

10、atthegloballevelthenlatertrytomakeanimplementationatthelocallevelbecauseoftenpropertiesofthehardwareareignedaslowroboticsystemmightbetheresult.Therefeweuseabottomupapproachwherethesinglemoduleisthebasicunitofdesign.Thati

11、swemovefromaglobaldesignperspectivetoabottomuponewheretheimptantdesignelementistheindividualmoduleitsinteractionswithitsneighbs.Theglobalbehaviofthesystemthenemergesfromthelocalinteractionbetweenindividualmodules.Asimila

12、rapproachisalsousedbyBojinovetal.[12]Butleretal.[4].2.RelatedwkIntherelatedwkpresentedherewefocusoncontrolalgithmsflocomotionofselfreconfigurablerobots.Yimetal.[2223]demonstratecaterpillarlikelocomotionarollingtrack.Thei

13、rsystemiscontrolledbasedonagaitcontroltable.Eachcolumninthistablerepresentstheactionsperfmedbyonemodule.Motionisthenobtainbyhavingamastersynchronizingthetransitionfromonerowtothenext.Theproblemwiththisapproachisthattheam

14、ountofcommunicationneededbetweenthemasterthemoduleswilllimititsscalability.Anotherproblemistheneedfacentralcontrollersinceitgivesthesystemasinglepointoffailure.Ifthereisnomasteritissuggestedthatthemodulescanbeassumedtobe

15、synchronizedintimeeachmodulecanexecuteitscolumnofactionsopenloop.Howeversinceallthemodulesareautonomousitisaquestionableassumptiontoassumethatallthemodulesarecanstaysynchronized.Indertousethegaitcontroltableeachmodulenee

16、dstoknowwhatcolumnithastoexecute.ThismeansthatthemodulesneedIDs.Furthermeiftheconfigurationchangesthenumberofmoduleschangesthetablehastoberewritten.Shenetal.[17]proposetouseartificialhmonestosynchronizethemodulestoachiev

17、econsistentgloballocomotion.Inearlierversionsofthesystemahmoneispropagatedthroughtheselfreconfigurablesystemtoachievesynchronization.Inlaterwkthehmoneisalsopropagatedbackwardmakingallmodulessynchronizedbefeanewactionisin

18、itiated[1618].ThissynchronizationtakestimeO(n)wherenisthenumberofmodules.Thisslowsdownthesystemconsiderablybecauseithastobedonebefeeachaction.Alsotheentiresystemstopswkingifonehmoneislost.Thisisasignificantproblembecause

19、ahmonecaneasilybelostduetounreliablecommunicationamoduledisconnectingitselfbefearesponsecanbegivenamodulefailure.Infactthesystemhasnpointsoffailurewhichisnotdesirable.Theearlierversionisbetterinthissensebutstillperfmance

20、remainslowbecauseasynchronizationhmoneissentbefeeachaction.Butleretal.[4]proposeamethodinspiredbycellularautomata.Intheirapproachmodulesrespondtostatechangesofneighbmodules.Theirapproachisabottomupapproachrelatedtooursbu

21、tincellularautomatathereisnoconceptoftimeonlyofsequence.Timingisimptantinlocomotionbecauseitisthekeytoproducesmoothlifelikelocomotionavoidjerkylocomotion.Inoursystemallmodulesrepeatedlygothroughacyclicsequenceofjointangl

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