TY - GEN
T1 - Enumeration of configurations and their kinematics for ModRED II modular robots
AU - Hossain, Kazi M.
AU - Nelson, Carl A.
AU - Dasgupta, Prithviraj
PY - 2016
Y1 - 2016
N2 - Modular robotics is a popular topic for robotic applications and design. The reason behind this popularity is the ability to use and re-use the same robot modules for accomplishing different tasks through reconfiguration. The robots are capable of self-reconfiguration based on the requirements of the task and environmental constraints. It is possible to have a large number of configuration combinations for the same set of modules. Therefore, it is important to identify unique configurations from among the full set of possible configurations and establish a kinematic strategy for each before reconfiguring the robots into a new shape. This becomes more difficult for robot units having more than one connection type and more degrees of freedom. For example, ModRED II modules have two types of connections and four degrees of freedom per module. In this paper, the set of configurations is enumerated, and determination of configuration isomorphism is accomplished for ModRED II modules using graph theory. Kinematic equations are then derived for unique configurations. The kinematic method is then demonstrated for certain example configurations using ModRED II modules.
AB - Modular robotics is a popular topic for robotic applications and design. The reason behind this popularity is the ability to use and re-use the same robot modules for accomplishing different tasks through reconfiguration. The robots are capable of self-reconfiguration based on the requirements of the task and environmental constraints. It is possible to have a large number of configuration combinations for the same set of modules. Therefore, it is important to identify unique configurations from among the full set of possible configurations and establish a kinematic strategy for each before reconfiguring the robots into a new shape. This becomes more difficult for robot units having more than one connection type and more degrees of freedom. For example, ModRED II modules have two types of connections and four degrees of freedom per module. In this paper, the set of configurations is enumerated, and determination of configuration isomorphism is accomplished for ModRED II modules using graph theory. Kinematic equations are then derived for unique configurations. The kinematic method is then demonstrated for certain example configurations using ModRED II modules.
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U2 - 10.1115/DETC2016-60307
DO - 10.1115/DETC2016-60307
M3 - Conference contribution
AN - SCOPUS:85007605033
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 40th Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016
Y2 - 21 August 2016 through 24 August 2016
ER -