采用模糊推理方法来选择最优构型库
通过从构型库中选择最合适的构型
） 摘要： 模块化自重构机器人由若干相同的模块组成,它能在水下环境中改变自己的形状
采用竞争型神经网络从最优构型库中选出最优构型
） Abstract： Underwater Modular Self-Reconfigurable (UMSR) robots, made up of many identical modules, can change their overall configuration in the underwater environment
Their survival in complex and unpredictable underwater environment necessitates the ability of selecting the best configuration from their configuration library automatically
To fulfill this ability, this paper proposes a hybrid reasoning mechanism, in which the fuzzy logic approach is employed to select the best configuration category, and the competing neuron network approach is used to select the best configuration in the best category
Keywords： Modular robot; self-reconfigurable robot; underwater robot; configuration selection; underwater adaptability 下载PDF阅读器 PDF全文下载： 初稿 （ 182 ） 作者简介： I\'m XU Xuesong, born in 1977-01
I graduated from Shanghai Jiaotong University in 2006-03
I worked in Kyushu University of Japan from 2006-04 to 2008-03
From 2008-06 to now, I work in Shanghai Jiaotong University, do research about underwater engineering
通信联系人： 【收录情况】 中国科技论文在线： 徐雪松
水下模块化自重构机器人最优构型拓扑选择[EB/OL]
北京：中国科技论文在线
水下机器人
水下适应性 XU Xuesong * （ School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, ShangHai 200240
