NDLI: Generalized programming of modular robots through kinematic configurations

Content Provider	IEEE Xplore Digital Library
Author	Bordignon, M. Stoy, K. Schultz, U.P.
Copyright Year	2011
Description	Author affiliation: Digipack Industrial Automation, Italy (Bordignon, M.) \|\| Modular Robotics Lab, Maersk Mc-Kinney Moller Institute, Faculty of Engineering, University of Southern Denmark, Denmark (Stoy, K.; Schultz, U.P.)
Abstract	The distinctive feature of modular robots consists in their reconfigurable mechanical structure, as they are assembled on-demand from basic mechatronic units. This implies that kinematic models of the robots need to be computed on a case-by-case basis for each specific assembly, which is a manual and hence time-consuming and error-prone procedure. We propose to automate this process by automatically computing such kinematic models starting from simple descriptions of the modules and their assemblies. This automated computation is supported by our toolchain for programming arbitrary modular robots in arbitrary configurations, presented in this paper. We contribute two novel results through this approach. First, a high-level programming language that provides kinematic abstractions for arbitrary modular robots, in contrast to the robot-specific solutions currently available. Second, a programming abstraction to subsume multiple kinematically equivalent robot assemblies into a so-called kinematic configuration, hence eliminating the need to explicitly enumerate and program each of them. These contributions advance current techniques for modular robot programming by demonstrating a tool that a) targets multiple mechanical platforms, offering the first general solution for modular robot programming, and b) raises the abstraction level by allowing users to reason and program in terms of standardized kinematic models that are automatically mapped to physical robot configurations by the toolchain.
Starting Page	3659
Ending Page	3666
File Size	759247
Page Count	8
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094811
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Kinematics Computational modeling Robot kinematics Assembly Foot
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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