Open AccessA Configuration Design Method for Reconfigurable Robots Based on Terrain Understanding
Author(s) -
Hua Shang,
Yurong Xi,
Zhibing Xie,
Xueming Xiao,
Meibao Yao
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2203/1/012023
Subject(s) - reconfigurability , terrain , adaptability , robot , computer science , focus (optics) , configuration design , work (physics) , mobile robot , human–computer interaction , artificial intelligence , distributed computing , systems engineering , engineering , mechanical engineering , telecommunications , ecology , physics , optics , biology , operating system
Reconfigurable robots have excellent reconfigurability and environmental adaptability, but the configuration design method to select appropriate configuration with different environments has not been fully studied. Most of the existing work is based on the known global environment information, or only focus on the structure design. How to effectively obtain rich terrain information for subsequent configuration design is the subject of this paper. In our work, a comprehensive method of obtaining robotic configuration is proposed which considering geometric information and semantic information of unstructured terrain. And it provides new possibilities for reconfigurable robots to perform autonomous tasks in complex scenarios. Results of simulation experiments prove the availability of the mentioned method.