NDLI: Trajectory generation and steering optimization for self-assembly of a modular robotic system

Content Provider	IEEE Xplore Digital Library
Author	Wolfe, K.C. Kutzer, M.D.M. Armand, M. Chirikjian, G.S.
Copyright Year	2010
Description	Author affiliation: Department of Mechanical Engineering, Johns Hopkins University, Baltimore, Maryland, USA (Wolfe, K.C.; Kutzer, M.D.M.; Armand, M.; Chirikjian, G.S.)
Abstract	A problem associated with motion planning for the assembly of individual modules in a new self-reconfigurable modular robotic system is presented. Modules of the system are independently mobile and can be driven on flat surfaces in a similar fashion to the classic kinematic cart. This problem differs from most nonholonomic steering problems because of an added constraint on one of the internal states. The constraint properly aligns the docking mechanism, allowing modules to connect with one another along wheel surfaces. This paper presents an initial method for generating trajectories and control inputs that allow module assembly. It also provides an iterative method for locally optimizing a nominal control function using weighted perturbation functions, while preserving the final pose and internal states.
Starting Page	4996
Ending Page	5001
File Size	951697
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509157
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Self-assembly Robots Robotic assembly Motion planning Assembly systems Kinematics Wheels Iterative methods Optimization methods Weight control trajectory optimization modular robots self-assembly nonholonomic motion planning
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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