[1] CURTIS S,BRANDT M,BOWERS G,et al. Tetrahedral robotics for space exploration[J]. Aerospace and Electronic Systems Magazine,2007,22(6):22-30. [2] CARMICHAEL B L,GIFFORD C M. Modeling and simulation of the seismic TETwalker concept[R]. Tech. Rep. CReSIS-TR-134,2007. [3] GIFFORD C M,AGAH A,CARMICHAEL B L,et al. Seismic TET walker mobile robot design and modeling[C]//Proceedings of Technologies for Practical Robot Applications,2008:7-12. [4] LEE W H,SANDERSON A C. Dynamic rolling of modular robots[C]//Proceedings of Robotics and Automation,2000:2840-2846. [5] LEE W H,SANDERSON A C. Dynamic rolling,locomotion planning,and control of an icosahedral modular robot[C]//Proceedings of Intelligent Robots and Systems,2000:2178-2183. [6] LEE W H,SANDERSON A C. Dynamic rolling locomotion planning and control of modular robots[J]. Robotics and Automation,2002,18(1):32-41. [7] TADAKUMA K,TADAKUMA R,NAGATANI K,et al. Throwable tetrahedral robot with transformation capability[C]//Proceedings of IEEE/RSJ International Conference on Intelligent Robots & Systems,2009:2801-2808. [8] ZAGAL J C,ARMSTRONG C,LI S. Artificial life 13[M]. Cambridge:MIT Press,2012. [9] NOZAKI H,KUJIRAI Y,NIIYAMA R,et al. Continuous shape changing locomotion of 32-legged spherical robot[C]//IEEE International Conference on Intelligent Robots and Systems,2018:2721-2726. [10] LIU Changhuan,YAO Yanan,LI Ruiming,et al. Rolling 4R linkages[J]. Mechanism and Machine Theory,2012,48:1-14. [11] 姚燕安,翟美丽,刘超.基于一种新型空间6R机构的滚动机器人[C]//第十届中国机构与机器科学应用国际会议(CCAMMS 2013),7月8-12日,2013,中北大学,太原,中国.上海:机械设计与研究,2013:204-208. YAO Yanan,ZHAI Meili,LIU Chao. A Rolling robot based on a novel spatial 6R Mechanism[C].//10th China Conference on the Application of Mechanism and Machinery Science,July 8-12,2013,North University of China,Taiyuan,China. Shanghai:Machine Design & Research,2013:204-208. [12] 田耀斌,郭一竹,刘长焕,等.单自由度概率翻转移动连杆机构[J].机械工程学报,2011,47(3):14-20. TIAN Yaobin,GUO Yizhu,LIU Changhuan,et al. Single-DOF mobile linkage with possibility orientation movements[J]. Journal of Mechanical Engineering,2011,47(3):14-20. [13] GUO Yizhu,LIU Changhuan,YAO Yanan,et al. Control method and motion path simulation of a mobile robot[C]//2010 International Conference on Computer Application and System Modeling (ICCASM 2010),Ocotober 22,2010,North University of China,Taiyuan,China. Shanghai:Machine Design & Research,2010:638-642. [14] TAKANISHI A,LIM H O,TSUDA M,et al. Realization of dynamic biped walking stabilized by trunk motion on a sagitally uneven surface[C]//International Conference on Intelligent Robots and Systems. 1989:323-330. [15] 盛骤,谢式千,潘承毅.概率论与数理统计[M]. 4版.北京:高等教育出版社,2008. SHENG Zhou,XIE Shiqian,PAN Chengyi. Probability theory and mathematical statistics[M]. 4th Edition. Beijing:Higher Education Press,2008. |