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) |
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Pages | 1283-1291 |
Number of pages | 9 |
DOIs | |
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 |
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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)