The modular approach based on functional components division for modular reconfigurable walking robot

摘要

Modular robot generally is composed of a few standard modular units with standards ports, electrical hardware with common interface, software and control algorithms, etc. Utilizing these modules we can rapidly restructure other modular reconfigurable robot similar to the building block principle. This paper present the modular design methodology based on functional components division to develop the modular reconfigurable walking robot, propose the layered architecture, which is modular functional component layer-modular units layer-modular system layer, sum up the principle of module division, the concept of module granularity, and the heterogeneous module can be reconstructed by middleware. Based on kinematic graph and Assembly Incidence Matrix, represent the tree topology configuration and automated modeling of walking robot.