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

Carl A. Nelson, Raymond J. Cipra

Research output: Contribution to conferencePaper

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 languageEnglish (US)
Pages1283-1291
Number of pages9
StatePublished - Dec 1 2004
Event2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Salt Lake City, UT, United States
Duration: Sep 28 2004Oct 2 2004

Conference

Conference2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference
CountryUnited States
CitySalt Lake City, UT
Period9/28/0410/2/04

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Keywords

  • Chain-type robots
  • Modular robots
  • Reconfigurable robots
  • Reconfiguration algorithms

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

Cite this

Nelson, C. A., & Cipra, R. J. (2004). An algorithm for efficient self-reconfiguration of chain-type unit-modular robots. 1283-1291. Paper presented at 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Salt Lake City, UT, United States.