模塊化可重構機器人由若干個相同的機器人模塊組合裝配而成，能夠重構成不同的幾何形態和結構，從而適應不同的作業任務要求。本論文主要對樹狀拓撲結構的模塊化機器人的重構規劃問題進行了研究，定義了構型重構的基本概念，提出了分支重構規劃算法。這類模塊化可重構機器人可以用樹狀拓撲結構圖來描述。機器人的拓撲結構從自由樹轉化為有根樹，然后分解為若干個分支結構，并按一定順序排列，通過對各個分支結構的逐步比較和操作，完成重構過程。最后選定模塊數目，進行了重構規劃過程的仿真計算。結果表明，文中所述算法對于樹狀拓撲結構的模塊化機器人的重構規劃問題是有效的。
關鍵詞: 機器人; 重構規劃; 可重構; 模塊化; 拓撲結構
Topological Reconfiguration Planning for Modular Robots ZHAO Guangtao，ZHENG Haojun (Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China) Abstract: Modular reconfigurable robots consist of large number of identical modules that possess the ability to adapt their shape to suit multiple, changing tasks. This paper examines the reconfiguration planning problem of tree-like topological modular robots and defines some of the general nomenclature. And then presents a new planning algorithm for reconfiguration that allows a robot to efficiently transform between two arbitrary tree-like topological configurations. The robot topology can be transformed in a rooted tree from a free tree. The rooted trees are decomposed into several substructures arranged in some order. Reconfiguration planning will be accomplished by the stepwise comparison and operation between the substructures. Simulation and computation results show that this algorithm is efficient for tree-like topological modular reconfigurable robots.
Key words: robot; reconfiguration planning; reconfigurable; modular; topological structure