K. Kotay, D. Rus, M. Vona, and C. McGray. The self-reconfiguring robotic molecule. In Proceedings of the  Home/Search   Document Details and Download   Summary   Related Articles   Check

....outdoor terrains including grass, dirt, rocky areas, curbs and steps, as well as indoor environments. The goal of the present work is to enhance the mobility of the Millibots to allow them to operate in such areas. The work builds upon those who have created reconfigurable robot modules [7] [13], snake like robots [14] 18] specialized stair climbing robots [19] 21] and trains of wheeled or tracked robots [22] 25] It has been shown that step climbing and ditch crossing ability are related to the wheel diameter (or front sprocket diameter for tracked vehicles) vehicle length and ....

K. Kotay, D. Rus, M. Vona, and C. McGray, "The self-reconfiguring robotic molecule," in Proc. IEEE Int. Conf. Robotics and Automation, Leuven, Belgium, 1998, pp. 843--851.

....from potentially many independent modules that connect to form a robot. These modules can have their own power supply, actuators, sensors, communication system, and computational capabilities. See for instance the CONRO module in Figure 1 or refer to the physical realizations described in [10] [8], 12] 23] 19] 14] 9] Self reconfigurable robots gain their robustness through redundancy. The robot is built from many identical modules and therefore if one fails it can be replaced by a spare module. The modules can be connected in different ways making the same robotic system able to ....

K. Kotay, D. Rus, M. Vona, and C. McGray. The self-reconfiguring robotic molecule. In Proc. of the IEEE Int. Conf. on Robotics & Automation, pages 424--431, Leuven, Belgium, 1998.

....number of independent modules connected to form a robot. If the modules from which the reconfigurable robot is built are able to connect and disconnect without human intervention the robot is a self reconfigurable robot. Examples of physically realized self reconfigurable robots can be found in [8, 6, 9, 15, 13, 11, 7]. Several potential advantages of self reconfigurable robots over traditional robots have been pointed out in literature: Versatility. The modules can be combined in different ways making the same robotic system able to perform a wide range of tasks. Adaptability. While the ....

K. Kotay, D. Rus, M. Vona, and C. McGray. The self-reconfiguring robotic molecule. In Proceedings of the IEEE int. conf. on Robotics & Automation, pages 424--431, Leuven, Belgium, 1998.

....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. Because of the large ....

Keith Kotay, Daniela Rus, Marsette Vona, and Craig McGray. The self-reconfiguring robotic molecule. In Proc. of the Conference on Robotics and Automation (ICRA98), page 424. IEEE, 1998.

....[5] and Yoshida et al. 17] separately, designed and constructed systems that can achieve planar motion by arranging modules. Pamecha et al. 11] described metamorphic robots that can aggregate as stationary 2 D structures with varying geometry and that implement planar locomotion. Kotay et al. [4] proposed and implemented metamorphic robots based on a robotic module called the robotic molecule . Nilsson [8] designed and implemented a torsion free joint for modular snake like robots. Fujita et al. 2] build a biologically inspired reconfigurable robot. Paredis and Khosla [12] proposed ....

....modules and build the robot by assembling them in a given configuration. This is the approach taken originally to build hyper redundant robots that move in a plane (e.g. snake robots and planar robots [9] 10] 13] and later extended to locomotion in 3 D space (e.g. robotic molecule [4], 3 D unit [6] The use of homogeneous modules has advantages that make them suitable for modular robotics. First, the homogeneity of the modules can be used as a fault tolerant mechanism that adds redundancy to the robot. If a module fails, it can be discarded and replaced by any other module. ....

K. Kotay, D. Rus, M. Vona, and C. McGray. The self-reconfiguring robotic molecule. In Proc. IEEE Int. Conf. Robotics Automat., pages 424-- 431, May 1998.

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K. Kotay, D. Rus, M. Vona, and C. McGray, The Self-reconfiguring Robotic Molecule, in Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, 1998.

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K. Kotay, D. Rus, M. Vona, and C. McGray, The Self-reconfiguring Robotic Molecule, in Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, 1998.

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K. Kotay, D. Rus, M. Vona, and C. McGray, The Self-reconfiguring Robotic Molecule, to appear in Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, 1998.

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K. Kotay, D. Rus, M. Vona, and C. McGray, The Self-reconfiguring Robotic Molecule, in Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, 1998.

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K. Kotay, D. Rus, M. Vona, and C. McGray, The Self-reconfiguring Robotic Molecule, in Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, 1998.

....(see Figure 2. Each atom has 5 inter Molecule connectors and two degrees of freedom. One degree of freedom allows rotation about one connector. The second degree of freedom allows rotation of the atom about the bond. Detailed descriptions of the design and control of the Molecule can be found in [8]. A set of such Molecules can self aggregate as arbitrary three dimensional structures. We show this result by demonstrating several different tilings of the plane with the Molecule. The tilings can be stacked so that the resulting structures are three dimensional. A structure made of Molecules ....

....that can achieve planar motion by walking over each other due to changes in the polarity of magnetic fields. 14] describes metamorphic robots that can aggregate as stationary two dimensional structures with varying geometry and that implement planar locomotion. Our self reconfigurable robots [8, 7] are different from metamorphic robots in their design and functionality. The structures built from self organizing Molecules and Inchworms are three dimensional, can move along any axis in a three dimensional space, and have motion autonomy relative to a three dimensional world. ....

K. Kotay, D. Rus, M. Vona, and C. McGray, The Self-Reconfiguring Robotic Molecule, in Proceedings of the 1998 International Conference on Robotics and Automation, Leuven, Belgium, 1998.

....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 ....

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K. Kotay, D. Rus, M. Vona, and C. McGray, The self-reconfiguring robotic molecule, in Proceedings of the 1998 International Conference on Robotics and Automation.

....it is impossible in our current robots. In the next section we describe our progress towards creating self reconfigurable robots. 3 Self reconfiguring Molecules: An Example We have designed a small and simple robotic module we call a Molecule capable of self reconfiguration in three dimensions [ Kotay et al., 1998 ] The Molecule is a 4 degreeof freedom, small scale module capable of aggregating with other identical modules to form three dimensional dynamic structures. The Molecule consists of two atoms connected by a right angle rigid bond (see Figure 1. Each atom has 5 inter Molecule connectors and ....

....(see Figure 1. Each atom has 5 inter Molecule connectors and two degrees of freedom. One degree of freedom allows rotation about one connector. The second degree of freedom allows rotation of the atom about the bond. Detailed descriptions of the design and control of the Molecule can be found in [ Kotay et al., 1998 ] The Molecule can connect with other identical Molecules to create dynamic three dimensional geometric structures. It is possible to create arbitrary threedimensional geometric shapes consistent with the Molecular structure. These three dimensional shapes can only have surfaces that meet at ....

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K. Kotay, D. Rus, M. Vona, and C. McGray, The Self-reconfiguring Robotic Molecule, to appear in /em Proceedings of the 1998 International Conference on Robotics and Automation, Leuven, 1998.

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K. Kotay, D. Rus, M. Vona, and C. McGray. The self-reconfiguring robotic molecule. In Proceedings of the

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K. Kotay, D. Rus, M. Vona, and C. McGray. The self-reconfiguring robotic molecule. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA-98), pages 424--431. IEEE Press, New York, NY, USA, 1998.

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K. Kotay, D. Rus, M. Vona, and C. McGray. The self-reconfiguring robotic molecule. In Proceedings of the IEEE International Conference on Robotics & Automation, pages 424--431, Leuven, Belgium, 1998.

No context found.

K. Kotay, D. Rus, M. Vona, and C. McGray. The selfreconfiguring robotic molecule. In Proc. of the IEEE Int. Conf. on Robotics & Automation, pages 424--431, Leuven, Belgium, 1998.

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K. Kotay, et al. : "The Self-Reconfiguring Robotic Molecule," Proc. 1998.

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Kotay, K., D. Rus, M. Vona, and C. McGray. The selfreconfiguring robotic molecule. in ICRA. 1998.

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Kotay, K., D. Rus, M. Vona, and C. McGray. The self-reconfiguring robotic molecule. in Proceedings of IEEE International Conference on Robotics and Automation. 1998.

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