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Content Provider | IEEE Xplore Digital Library |
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Author | Sproewitz, Alexander Billard, Aude Dillenbourg, Pierre Ijspeert, Auke Jan |
Copyright Year | 2009 |
Description | Author affiliation: Bio-Inspired Robotics Group (BIRG), Ecole Polytechnique Fédérale de Lausanne, CH-1015, Switzerland (Sproewitz, Alexander; Ijspeert, Auke Jan) || Centre de Recherche et d 'Appui pour la Formation (CRAFT), Ecole Polytechnique Fédérale de Lausanne, CH-1015, Switzerland (Dillenbourg, Pierre) || Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique Fédérale de Lausanne, CH-1015, Switzerland (Billard, Aude) |
Abstract | We aim at merging technologies from information technology, roomware, and robotics in order to design adaptive and intelligent furniture. This paper presents design principles for our modular robots, called Roombots, as future building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection and disconnection of modules and rotations of the degrees of freedom. We are furthermore interested in applying Roombots towards adaptive behaviour, such as online learning of locomotion patterns. To create coordinated and efficient gait patterns, we use a Central Pattern Generator (CPG) approach, which can easily be optimized by any gradient-free optimization algorithm. To provide a hardware framework we present the mechanical design of the Roombots modules and an active connection mechanism based on physical latches. Further we discuss the application of our Roombots modules as pieces of a homogenic or heterogenic mix of building blocks for static structures. |
Starting Page | 4259 |
Ending Page | 4264 |
File Size | 2006325 |
Page Count | 6 |
File Format | |
ISBN | 9781424427888 |
ISSN | 10504729 |
DOI | 10.1109/ROBOT.2009.5152613 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2009-05-12 |
Publisher Place | Japan |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Robot kinematics Intelligent robots Robotics and automation Hardware Pervasive computing Robotic assembly Merging Information technology Ubiquitous computing Augmented reality |
Content Type | Text |
Resource Type | Article |
Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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