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中文摘要：
设计了一种同构、阵列式自重构模块机器人，其特点为结构紧凑、运动灵活．每一个模块可以单独地与其他模块相互分离或连接，通过与其他模块合作改变自身的连接．讨论了如何描述机器人的位形，并提出了一种建立在评价函数和邻接矩阵基础上的变形运动方法．该方法有效地降低了系统的计算量，减少了运动步数．利用Java3D验证了所提出运动算法的可行性和合理性．
英文摘要：
A homogeneous and lattice self-reconfigurable robot module was designed,its character is small in size and compact. A module can independently connect or disconnect with other modules, and then change its connection by collaborating with other modules, This paper discussed how to describe and discover the configuration of robot. Furthermore, a new motion planning method was established based on the appraisal function and the adjacency matrix, which reduces the system computation and minimizes the reconfiguration step. A simulation experiment is demonstrated and it verifies the correctness of metamorphosis method.
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