文献类型：会议论文

英文题名：ReBot: A Novel Under-Actuated Resilient Robot

作者：Liu, Junkai[1];Liu, C. L.[1];Zhang, Bing[2];Yuan, C. W.[3];Qian, Z. Q.[1];Zhang, W. J.[1]

机构：[1]East China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai, Peoples R China;[2]Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai, Peoples R China;[3]Univ Saskatchewan, Dept Mech Engn, Saskatoon, SK, Canada

会议论文集：25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

会议日期：NOV 20-22, 2018

会议地点：Stuttgart, GERMANY

语种：英文

外文关键词：Resilient robots; Under-actuated robots; Design; Control

摘要：A resilient robot can recover its original function after a partial damage. In this paper, a novel under-actuated resilient robot named ReBot is presented. ReBot is an under-actuated robotic system and it consists of one type of module, which realizes the under-actuated characteristic with the whole robot. In ReBot, the module is designed as a cube structure with two rotational DOFs. The module is designed such that one can connect to another with the function of self-locking and switching between an active and a passive connection. The evolution of the configuration of an entire robotic system is performed autonomously. A preliminary experiment is carried out to show that the design requirement can be achieved.