A multi-layered planner for self-reconfiguration of a uniform group of I-Cube modules
- 13 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 598-605
- https://doi.org/10.1109/iros.2001.973421
Abstract
In this paper, we present a multi-layered planner for the motion of modules in a uniform group of I -Cube self- reconfiguring modular robotic system. The planner uses metacubes, the high-level abstraction of 8C16L groups. It combines distributed approaches at the high-level with low- level trajectory computation for the actual modules which can be completed in O(n) steps where n is the number of the cubes in the system, and pre-defined rules for link motions. Mechatronic properties of the latest version of the reconfiguring modules are presented as well as results of the latest hardware and software experiments with the I- Cube modules.Keywords
This publication has 16 references indexed in Scilit:
- Cellular robotic system (CEBOT) as one of the realization of self-organizing intelligent universal manipulatorPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A Modular Self-Reconfigurable Bipartite Robotic System: Implementation and Motion PlanningAutonomous Robots, 2001
- Solutions for 3D self-reconfiguration in a modular robotic system: implementation and motion planningPublished by SPIE-Intl Soc Optical Eng ,2000
- The Inchworm Robot: A Multi-Functional SystemAutonomous Robots, 2000
- CONRO: Towards Deployable Robots with Inter-Robots Metamorphic CapabilitiesAutonomous Robots, 2000
- I(CES)-cubes: a modular self-reconfigurable bipartite robotic systemPublished by SPIE-Intl Soc Optical Eng ,1999
- Self-reconfiguration planning for a class of modular robotsPublished by SPIE-Intl Soc Optical Eng ,1999
- Mechanisms for self-organizing robots which reconfigure in a vertical planePublished by Springer Nature ,1998
- Useful metrics for modular robot motion planningIEEE Transactions on Robotics and Automation, 1997
- Kinematic Design of Serial Link Manipulators From Task SpecificationsThe International Journal of Robotics Research, 1993