A motion planning method for a self-reconfigurable modular robot
- 13 November 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 590-597
- https://doi.org/10.1109/iros.2001.973420
Abstract
This paper addresses motion planning of a homoge- neous modular robotic system. The modules have self- reconfiguration capability so that a group of the modules can construct a robotic structure. Motion planning for self- reconfiguration is a kind of computationally difficult prob- lem because of many combinatorial possibilities of modu- lar configuration and the restricted degrees of freedom of the module; only two rotation axes per module. We will show a motion planning method for a class of multi-module structures. It is based on global planning and local motion scheme selection that is effective to solve the complicated planning problem.Keywords
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