文章基本信息

标题：A Novel Reconfigurable Robot for Urban Search and Rescue
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作者：Houxiang Zhang ; Wei Wang ; Zhicheng Deng 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2006
卷号：3
期号：4
DOI：10.5772/5719
出版社：SAGE Publications
摘要：This paper presents a novel mobile robot for urban search and rescue based on reconfiguration. The system consists of three identical modules; actually each module is an entire robotic system that can perform distributed activities. To achieve highly adaptive locomotion capabilities, the robot's serial and parallel mechanisms form an active joint, enabling it to change its shape in three dimensions. A docking mechanism enables adjacent modules to connect or disconnect flexibly and automatically. This mechanical structure and the control system are introduced in detail, followed by a description of the locomotion capabilities. In the end, the successful on-site tests confirm the principles described above and the robot's ability.
关键词：Mobile robot ; Docking mechanism ; Serial and parallel mechanism ; Locomotion capabilities