NDLI: Cooperative reconfiguration between two specific configurations for a shape-shifting robot

Content Provider	IEEE Xplore Digital Library
Author	Bin Li Shugen Ma Tonglin Liu Minghui Wang
Copyright Year	2010
Description	Author affiliation: State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, No.114 Nanta Street, Liaoning, China (Bin Li; Tonglin Liu; Minghui Wang) \|\| Department of Robotics, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu-Shi, Shiga-ken, Japan (Shugen Ma)
Abstract	A shape-shifting mobile robot named AMOEBA-I has diverse configurations. Cooperative reconfiguration is presented to improve the robot's reconfigurable ability and adaptability in unstructured environments. Cooperative reconfiguration method is analyzed theoretically. A mathematical model is established correspondingly and the kinematical relations among the three modules during the cooperative reconfiguration are determined. The transformation is implemented between two specific configurations. Then, an evaluation is proposed for AMOEBA-I's cooperative reconfiguration performance. The feature of cooperative reconfiguration methods is compared through the theoretical analysis and experiments. Experimental results prove the validity of the cooperative reconfiguration methods on various grounds.
Starting Page	1
Ending Page	6
File Size	734477
Page Count	6
File Format	PDF
ISBN	9781424488988
e-ISBN	9781424488995
DOI	10.1109/SSRR.2010.5981572
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-26
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Resistance Force Transforms Robot sensing systems cooperative reconfiguration shape-shifting robot Joints
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in