Self-Reconfigurable Robots Reconfiguration Algorithms Lei Wei email@example.com 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.
Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.
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.
1. Daniela Rus and Marsette Vona, Crystalline Robots: Self-Reconfiguration with Compressible Unit Modules, Autonomous Robots,2001
2. Kotay,K., Rus,D.,M., and McGray,C., The Self-reconfigurable robotics molecule. In Proceedings of the 1998 International Conference on Robotics and Automation
3. Kotay,K., Rus,D.,M., and McGray,C., The Self-Reconfiguring robotic molecule: Design and Control algorithms. In the 1998 Workshop on Algorithmic Foundations of Robotics.
4. Kotay,K., Rus,D.,1998. Motion synthesis for the self-reconfiguring robotic module. In proceedings of the 1998 International Conference on Intelligent Robots and Systems.
9. Pamecha,A.,Chiang,C.-J.,Stein,D., and Chirikjian,G.1996. Design and implementation of metamorphic robots. In proceedings of the 1996 ASME Design Engineering Technical Conference and Computers in Engineering Conference, Irvine,CA
10. A.Pamecha, I. Ebert-Uphoff, and G. Chirikjian, Useful metrics for modular robot motion planning, in IEEE Transactions on Robotics and Automation. Vol.13, 1997.