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A Self-Reconfigurable Modular Robot: Reconfiguration Planning and Experiments
| Content Provider | CiteSeerX |
|---|---|
| Author | Murata, Satoshi Kamimura, Akiya Tomita, Kohji Kurokawa, Haruhisa Kokaji, Shigeru |
| Abstract | In this paper we address a reconfiguration planning method for locomotion of a homogeneous modular robotic system and we conduct an experiment to verify that the planned locomotion can be realized by hardware. Our recently developed module is self-reconfigurable. A group of the modules can thus generate various three-dimensional robotic structures and motions. Although the module itself is a simple mechanism, self-reconfiguration planning for locomotion presents a computationally difficult problem due to the many combinatorial possibilities of modular configurations. In this paper, we develop a two-layered planning method for locomotion of a class of regular structures. This locomotion mode is based on multi-module blocks. The upper layer plans the overall cluster motion called flow to realize locomotion along a given desired trajectory; the lower layer determines locally cooperative module motions, called motion schemes, based on a rule database. A planning simulation demonstrates that this approach effectively solves the complicated planning problem. Besides the fundamental motion capacity of the module, the hardware feasibility of the planning locomotion is verified through a self-reconfiguration experiment using the prototype modules we have developed. KEY WORDS—self-reconfigurable robot, modular robotics, planning, hierarchical planner, experimental robotics 1. |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Self-reconfiguration Planning Cooperative Module Motion Complicated Planning Problem Fundamental Motion Capacity Motion Scheme Desired Trajectory Homogeneous Modular Robotic System Planned Locomotion Modular Robotics Modular Configuration Layer Determines Two-layered Planning Method Simple Mechanism Planning Locomotion Hardware Feasibility Upper Layer Regular Structure Locomotion Present Key Word Self-reconfigurable Robot Reconfiguration Planning Method Planning Simulation Overall Cluster Motion Rule Database Experimental Robotics Locomotion Mode Many Combinatorial Possibility Multi-module Block Hierarchical Planner Self-reconfiguration Experiment Various Three-dimensional Robotic Structure |
| Content Type | Text |
| Resource Type | Article |
