The research of shape-shifting robot skid-turning with line configuration

The shape-shifting robot AMOEBA-I has the ability to pass the narrow and small ruins space with the line configuration, but there are many restricts in use due to hard turning and large turning radius. In order to reduce the turning radius and the time of turning and enhance the compatibility of complex environment of robot, this article proposed a method that can make the robot turn more quickly and effectively. Through the establishment of mathematical model, the kinematics and mechanical properties of three modules are analyzed and the evaluation criterion is proposed for the performance of robot turning. At last, the validity and enforceability of the turning is proved by simulations and experiments.