Self-Reconfigurable Robots Reconfiguration Algorithms Lei Wei firstname.lastname@example.org 12/05/2006 Reconfigurable Robot– A Brief Review A self-reconfigurable modular robotics system comprises of a collection of homogeneous modules that can connect, disconnect, and move around adjacent modules.
the modules may be different
all the modules are identical
groups of modules can be assembled into arbitrarily shaped rigid structures.
Ensures any geometric structure can be aggregated from some collection of modules.
in every structure composed of unit modules, some unit module can be relocated to each location on the surface of the structure without human intervention.
Provides for shape metamorphosis in a general way: From starting structure S to goal G incrementally.
G is the goal Crystal
I is the intermediate Crystal
Grow G out of I
A 2D Crystal in Grain(4)
A 2D Crystal not in Grain(4) because the bottom grain is not aligned with the top ones
where a and b are lattice points.
Determination of the sequence of module motions from any given initial configuration to any given final configuration in a preferably minimal number of moves.
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