An algorithm for efficient self-reconfiguration of chain-type unit-modular robots

Carl A. Nelson; Raymond J. Cipra

doi:10.1115/detc2004-57488

An algorithm for efficient self-reconfiguration of chain-type unit-modular robots

Carl A. Nelson, Raymond J. Cipra

Research output: Contribution to conference › Paper › peer-review

4 Scopus citations

Abstract

The problem of self-reconfiguration of modular robots is discussed, and an algorithm for efficient parallel self-reconfiguration is presented. While much of the previous work has been focused on the lattice-type modular robots, this paper addresses the self-reconfiguration of chain-type robots. Relatively little attention has heretofore been given to this sub-problem, and of the existing work, none incorporates the kinematic limitations of real-life robots into the reconfiguration algorithm itself. The method presented here is based on understanding a robot's physical "composition" using a graph-theoretic robot representation, and it sheds new light on self-reconfiguration of chain-type modular robots by incorporating elements of the robot kinematics as part of the criteria in choosing reconfiguration steps.

Original language	English (US)
Pages	1283-1291
Number of pages	9
DOIs	https://doi.org/10.1115/detc2004-57488
State	Published - 2004
Externally published	Yes
Event	2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Salt Lake City, UT, United States Duration: Sep 28 2004 → Oct 2 2004

Conference

Conference	2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Country	United States
City	Salt Lake City, UT
Period	9/28/04 → 10/2/04

Keywords

Chain-type robots
Modular robots
Reconfigurable robots
Reconfiguration algorithms

ASJC Scopus subject areas

Engineering(all)

Access to Document

10.1115/detc2004-57488

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Cite this

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AB - The problem of self-reconfiguration of modular robots is discussed, and an algorithm for efficient parallel self-reconfiguration is presented. While much of the previous work has been focused on the lattice-type modular robots, this paper addresses the self-reconfiguration of chain-type robots. Relatively little attention has heretofore been given to this sub-problem, and of the existing work, none incorporates the kinematic limitations of real-life robots into the reconfiguration algorithm itself. The method presented here is based on understanding a robot's physical "composition" using a graph-theoretic robot representation, and it sheds new light on self-reconfiguration of chain-type modular robots by incorporating elements of the robot kinematics as part of the criteria in choosing reconfiguration steps.

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