Analysis on two modeling results of modular self-reconfigurable robots

摘要

In this paper, the dynamic model of self-reconfigurable robots based on cellular automata model is given to describe the self-reconfiguration progress of robots. The control state equation under the action of external stimulus is also included. On the basis of group theory and the environment-based modeling of group robots, the kinetic equation of self-reconfigurable robots is established. Comparing these two state equations based on different modeling methods, there is a unity on the forms.