K. Kotay, D. Rus, M. Vora, and C. McGray. The self-reconfiguring robotic molecule: Design and control algorithms. In P.K. Agarwal, L. Kavraki, and M. Mason, editors, Robotics: The Algorithmic Perspective. AK Peters, Natick, MA, 1998. Home/Search Document Details and Download
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A Probabilistic Roadmap Approach for Systems with Closed.. - LaValle, Yakey, Kavraki (1999) (25 citations) (Correct)
.... to a single robot, or, for example, to a pair of open chain manipulators that cooperatively grasp and manipulate an object [19] It could also correspond to a closed loop that may result from the rearrangement of the links of a reconfigurable robot in order to ease manipulation or locomotion [10, 20, 24]. We are working towards having an efficient planner for systems with closed kinematic chains. Our planner is based on the probabilistic roadmap approach to planning [16] We construct a graph on the portion of the configuration space that satisfies kinematic closure constraints. The vertices of ....
....when two characters fight with each other, etc. A planner with the capability to handle closure constraints in addition to standard collision avoidance will be most useful in automating parts of the animation task. Furthermore, our work may have applications in planning for reconfigurable robots [20, 24]. These robots support multi ple modalities of locomotion and manipulation. Closed chains are often present in locomotion gaits [24] or arise during the reconfiguration task. There is also is a growing interest in computational chemistry to develop tools that efficiently search the configuration ....
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K. Kotay, D. Rus, M. Vora, and C. McGray. The selfreconfiguring robotic molecule: Design and control algorithms. In P.K. Agarwal, L. Kavraki, and M. Mason, editors, Robotics: The Algorithmic Perspective. AK Pe- ters, 1998.
A Physical Implementation of the Self-reconfiguring Crystalline.. - Rus, Vona (2000) (5 citations) Self-citation (Rus Vona) (Correct)
....we call a Robotic Molecule. This module has already been prototyped. Our experiments demonstrate that it is capable of self reconfiguration in three dimensions. We have also demonstrated how systems composed of robotic Molecules can use selfreconfiguration to increase their locomotive versatility [6, 7]. The robotic Molecule uses 4 rotational degrees of freedom to accomplish motion relative to a structure that consists of identical modules. In this paper we propose a di#erent approach to homogeneous self reconfiguring robot systems. This approach uses a module called a Crystalline Atom inspired ....
....to shrink and expand and two to make or break connections to other Atoms. This actuation scheme allows an individual module to relocate to arbitrary positions on the surface of a structure of modules in constant time. Previous systems necessitate linear time in the number of modules on the surface [23, 14, 13, 6, 7], because motion from some point A to another point B requires traversing a path between A and B on the surface of the structure. The expansion contraction actuation of the Crystalline Atom allows a module to Figure 1: This figure demonstrates using shape metamorphosis for locomotion. A statically ....
[Article contains additional citation context not shown here]
K. Kotay, D. Rus, M. Vona, and C. McGray. The self-reconfiguring robotic molecule: design and con-
Locomotion Versatility through Self-reconfiguration - Kotay, Rus (1998) (1 citation) Self-citation (Kotay Rus) (Correct)
....For example, in this domain there is a need for two kinds of planning algorithms: 1) to achieve a desired geometric shape and (2) to move globally the resulting shape. In our research, we have addressed design, control, and planning issues for self reconfiguring and self organizing systems [ Kotay et al., 1998b; Kotay et al., 1998a; Rus and Kotay, 1998; Kotay and Rus, 1998; McGray and Rus, 1998 ] Self reconfiguring robots have some clear advantages over fixed architecture robots. First, they support multiple modalities of navigation and manipulation. If the robot system needs to climb stairs, a ....
....this domain there is a need for two kinds of planning algorithms: 1) to achieve a desired geometric shape and (2) to move globally the resulting shape. In our research, we have addressed design, control, and planning issues for self reconfiguring and self organizing systems [ Kotay et al., 1998b; Kotay et al., 1998a; Rus and Kotay, 1998; Kotay and Rus, 1998; McGray and Rus, 1998 ] Self reconfiguring robots have some clear advantages over fixed architecture robots. First, they support multiple modalities of navigation and manipulation. If the robot system needs to climb stairs, a configuration that can ....
[Article contains additional citation context not shown here]
K. Kotay, D. Rus, M. Vona, and C. McGray, The self-reconfiguring robotic molecule: design and control algorithms, in the 1998 Workshop on Algorithmic Foundations of Robotics.
Self-reconfiguration Planning with Compressible Unit Modules - Rus, Vona (1999) (3 citations) Self-citation (Rus Vona) (Correct)
....computing are emerging due to the proliferation of wireless mobile computers. As with self reconfiguring robot systems, topology and reachability changes dynamically in wireless networks of mobile computers, requiring new solutions to communication and routing 1 . In our previous work [13, 14, 18] we discuss a small and simple robotic module we call a Robotic Molecule. This module has already been prototyped. Our experiments demostrate that it is capable of self reconfiguration in three dimensions. We have also demonstrated how systems composed of robotic molecules can use ....
K. Kotay, D. Rus, M. Vona, and C. McGray. The self-reconfiguring robotic molecule: design and control algorithms. In the 1998 Workshop on Algorithmic Foundations of Robotics, 1998.
Exact Pareto-Optimal Coordination of Two Translating.. - Chitsaz, O'Kane, LaValle (Correct)
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K. Kotay, D. Rus, M. Vora, and C. McGray. The self-reconfiguring robotic molecule: Design and control algorithms. In P.K. Agarwal, L. Kavraki, and M. Mason, editors, Robotics: The Algorithmic Perspective. AK Peters, Natick, MA, 1998.
Claytronics: A Scalable Basis for Future Robots - Goldstein, Mowry (2004) (Correct)
No context found.
K. Kotay, D. Rus, M. Vona, and C. McGray. The self-reconfiguring robotic molecule: Design and control algorithms. In Workshop on Algorithmic Foundations of Robotics, pages 424--431, May 1998.
Exact Pareto-Optimal Coordination of Two Translating.. - Chitsaz, O'Kane, LaValle (2004) (Correct)
No context found.
K. Kotay, D. Rus, M. Vora, and C. McGray. The self-reconfiguring robotic molecule: Design and control algorithms. In P.K. Agarwal, L. Kavraki, and M. Mason, editors, Robotics: The Algorithmic Perspective. AK Peters, Natick, MA, 1998.
Planning Algorithms - LaValle (2004) (3 citations) (Correct)
No context found.
K. Kotay, D. Rus, M. Vora, and C. McGray. The self-reconfiguring robotic molecule: Design and control algorithms. In P.K. Agarwal, L. Kavraki, and M. Mason, editors, Robotics: The Algorithmic Perspective. AK Peters, Natick, MA, 1998.
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