D. Rus and M. Vona. Self-reconfiguration planning with compressible unit modules. In Proceedings, IEEE International Conference on Robotics and Automation (ICRA'99), volume 4, pages 2513--2530, Detroit, Michigan, USA, 1999.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....consist of many interchangeable robotic modules connected into a mechanical and functional assembly. Interest in modular robots has increased recently due to their potential for robustness, reduced costs, and wide range of applicability particularly in highly constrained environments [Yim, 1994; Rus and Vona, 1999; Kotay et al. 1998] Typically, there are only a small number of module types, each module with limited motion capability. The flexibility of modular robots is achieved through the large number of modules, expected to range from dozens to thousands, and their many possible configurations. ....

D. Rus and M. Vona. Selfreconfiguration planning with compressible unit modules. In Proc. of the Conference on Robotics and Automation (ICRA99). IEEE, 1999.

....substructures for which basic reconfiguration operations are defined. Slightly different in topology than other systems, Crystalline robot uses the fact that the module are compressible and interchangeable to obtain centralized solutions that are more tractable than the solutions for other systems [22]. The facts that I Cubes system is bipartite and that modules providing the self reconfiguration are non fixed base 3 DOF manipulators complicate the motion planning for large number of modules. We are geared our research toward reconfiguration solutions not only to change the shape and structure ....

D. Rus, and M. Vona, "Self-Reconfiguration Planning with Compressible Unit Modules," Proc. IEEE Intl. Conf. on Rob. & Auto., 1999.

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M. Vona and D. Rus, Self-reconfiguration Planning with Compressible Unit Modules, in Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Detroit, 1999.

....using shape memory alloy actuators. PC 96, CPE96, PEC97] describes two metamorphic robot systems that can aggregate as stationary two dimensional structures with varying geometry. The modules are deformable hexagons and non deformable squares which move relative to a stationary set of modules. In [VR99] a selfreconfigurable robot module is proposed that performs reconfiguration by selective compression and expansion. WC 99] consider metamorphic robots based on their CONRO module. In our previous work [KR 98, KR98, KR99] we describe our robotic Molecule which can aggregate with other identical ....

....color constraints. Our approach toward achieving these goals is to use groups of Molecules as tiles which can self reconfigure on a meta scale (see Figure 4) Most self reconfigurable robot systems achieve reconfiguration by moving modules on a substrate of other modules (a notable exception is [VR99]) If the structure is a solid mass, then the exterior of the structure is the only substrate available for movement. However, the surface area of a structure does not scale as the volume of the structure increases there is proportionally less surface area per module. This is an impediment to ....

M. Vona and D. Rus, Self-reconfiguration Planning with Compressible Unit Modules, in Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Detroit, 1999.

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D. Rus and M. Vona. Self-reconfiguration planning with compressible unit modules. In Proceedings, IEEE International Conference on Robotics and Automation (ICRA'99), volume 4, pages 2513--2530, Detroit, Michigan, USA, 1999.

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