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2
ics I nstitute , Harbin Institute of Technology , Harbin,150001 , China)
Abstract :A new self reconfigurable modular robot DL CubeII (Double L Cube) was developed , The
DL Cube Ⅱ adopted a small rotating hook connecting/ disconnecting mechanism replacing internally
balanced magnet mechanism in DL Cube Ⅰ. U sing wireless communication between relay micro
comp uter and modules , the DL Cube Ⅱ has more reliable communication ability. In software , a
heuristic self reconfigurable method based module rules and macro motion was developed , it can plan
robot motions wit h any initial configuration go forward to goal centroid location in complicated
environment s. Several hardware experiment s and simulations were given to prove t he reliability of
connecting mechanism and feasibility of reconfigurable planning method.
Key words : automatic control technology ; self reconfiguration ; robot ; connecting mechanism ;
reconfiguration plan ;heuristic search
模块化自重构机器人利用模块之间的连接性 块结构设计 、自重构策略和运动规划方面进行了
和互换性 ,以及模块传感器感知到的周围环境信 相关研究并研制成功多种模型实验系统 ,典型代
息 ,通过模块之间的连接断开操作和相互运动来 表有 M EL 的 Yoshida[1 ] 设计的 Fract um 系统 ,
自动改变整体构形 ,