M. Yim. A reconfigurable modular robot with multiple modes of locomotion. In Proc. of JSME Conf. on Advanced Mechatronics, pages 283--288, Tokyo, 1993.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....performing the inchworm experiment. 5. Related Work We are inspired by pioneering work in self reconfiguring robotics. In [2] Fukuda et al. propose a cellular robotic system to coordinate a set of specialized modules. Several specialized modules and ways of composing them were proposed. In [21] Yim studies multiple modes of locomotion that are achieved physically by manually composing a few basic elements in di#erent ways. This work also presents extensive examples of locomotion and self reconfiguration in simulation. In [10, 23, 20, 11] Murata et al. consider a system of modules that ....

M. Yim. A reconfigurable modular robot with multiple modes of locomotion. In Proceedings of the 1993.

....change shape can lead to water flow like locomotion algorithms that allow the robot to conform to the terrain on which it has to travel, as shown in Fig. 1. Such algorithms have the potential of working well in unstructured environments. In most existing self reconfiguring robot systems (e.g. [3, 4, 9, 14]) an individual module can move in general ways relative to a structure of modules by traveling on the surface of the structure. Specifically, an individual module is capable of: 1) linear motion on plane of modules; 2) convex transitions into a di#erent plane; and (3) concave transitions into ....

M. Yim. A reconfigurable modular robot with multiple modes of locomotion. In Proc. of JSME Conf. on Advanced Mechatronics, Tokyo, 1993.

....We continue with algorithms that implement the locomotion gaits. Finally, we discuss our experiments. 2 Related work Our work draws on previous experiences with navigation algorithms [Lat91] designing self organizing robots, and designing minimalist robot systems [DJR97] We are inspired by [Mu94, Yim93, PCSC] who introduced the first systems capable of selfreconfiguration in the plane. Related work in designing modular robots includes [PK95, PK93, NS96, HS96] In [PK95] a method for designing various robotic arms with di#erent reachability properties out of the same set of 7 modules is proposed. The ....

....intervention [CLBD92] In [FK90] a cellular robotic system is proposed to coordinate a set of specialized modules. CB97] describe a theoretical framework for counting the number of unique configurations realizable from a set of modules and joints, without considering implementation issues. [Yim93] studies multiple modes of locomotion that are achieved by composing a few basic elements in di#erent ways. Mu94, YM 97] consider a system of modules that can achieve planar motion by walking over each other due to changes in the polarity of magnetic fields. PCSC] describes metamorphic robots ....

M. Yim, A reconfigurable modular robot with multiple modes of locomotion, in Proceedings of the 1993 JSME Conference on Advanced Mechatronics, Tokyo, Japan 1993.

....hardware and software architecture. Related work in self reconfigurable robots includes [FK90, Yim93, Yim94, CY99, NG 00, MKK94, YM 97, MK 98, YM 98, YM 99, MY 99, YK 99, PC 96, CPE96, PEC97, VR99, WC 99] In [FK90] a cellular robotic system is proposed to coordinate a set of specialized modules. [Yim93, Yim94] studies multiple modes of locomotion that are achieved by composing a few basic elements in di#erent ways. CY99, NG 00] present planning algorithms for selfreconfigurable robot systems. MKK94, YM 97] consider a system of modules that can achieve planar motion by walking over one another ....

M. Yim, A Reconfigurable Modular Robot with Multiple Modes of Locomotion, in Proceedings of the 1993 JSME Conference on Advanced Mechatronics, Tokyo, 1993.

....di#er from those discussed above in their design, their capability of reconfiguring in three dimensions, and the dynamic nature of the aggregated structures. 2. 2 Modular robots Related work in modular robots includes robots in which modules are reconfigurable using external intervention [CL 92] [Yim93, Yim94a, Yim94b] studies multiple modes of loco8 motion that are achieved by composing a few basic elements in di#erent ways. The modules can be assembled by hand in multiple ways and the resulting structures support several locomotion modalities. A pilot study consisting of a small set of modules was built; much ....

M. Yim, A reconfigurable modular robot with multiple modes of locomotion, in Proceedings of the 1993 JSME Conference on Advanced Mechatronics, Tokyo, Japan 1993.

....Fukuda et al. propose a cellular robotic system to coordinate a set of specialized modules [1] Several specialized modules and ways of composing them were proposed. Yim studies multiple modes of locomotion that are achieved physically by manually composing a few basic elements in di#erent ways [17]. In [18] Yim proposes a dodecahedron based module capable of selfreconfiguration. In [8, 15, 9] Murata et al. consider a system of modules called Fracta that can achieve planar motion by walking over one another, with actuation provided by varying the polarity of embedded electromagnets, and ....

M. Yim. A reconfigurable modular robot with multiple modes of locomotion. In Proceedings of the 1993 JSME Conference on Advanced Mechatronics, Tokyo, Japan 1993.

....now have 1 solutions that can be used in practice, but many still require more research. Changes in robotics technology, as well as new applications, will also raise new research problems. For instance, reconfigurable modular robots are now being developed, some with several hundred modules [14, 38, 64]. They will need new types of planners to compute their reconfiguring motions. A reason for the success of motion planning research is that it is both narrow enough to make it easy to assess progress and deep enough that most results raise new issues motivating additional research. In the future, ....

Yim, M. 1993. A Reconfigurable Modular Robot with Multiple Modes of Locomotion. Proc. JSME Conf. on Advanced Mechatronics. Also see http://www.parc.xerox.com/spl/members/yim/modrobots.html. 14

....out of the same set of 7 mod ules is proposed. The modules get aggregated by hand. Related work in self reconfigurable robots includes [FK90, PC 96, CPE96, PEC97, Yim93, Yim94, MKK94, YM 97, MK 98] FK90] propose a cellular robotic system is proposed to coordinate a set of specialized modules. [Yim93, Yim94] studies multiple modes of locomotion that are achieved by composing a few basic elements in di#erent ways. MKK94, YM 97, MK 98] consider a system of modules that can achieve planar motion by walking over one another exploiting changes in the polarity of magnetic fields. PC 96, CPE96, PEC97] ....

M. Yim, A Reconfigurable Modular Robot with Multiple Modes of Locomotion, in Proceedings of the 1993 JSME Conference on Advanced Mechatronics, Tokyo, 1993.

....module can make transitions that allow it to traverse any continuous surface of a configuration. This allows us to use the algorithms of [ChPa] to plan reconfigurations for structures composed of these three dimensional modules. 2 Previous Work Related work in designing modular robots includes [PaKh95, PaKh93, FuKa, ChBu, Yim, NeSa, HaSa]. These papers focus on how to design and build robotic systems out of modules from a small set of component types, and how to reconfigure these systems by changing the ways in which the components are used. self reconfiguring robots are a special kind of modular robot. These robots are capable of ....

M. Yim, A reconfigurable modular robot with multiple modes of locomotion, in Proceedings of the 1993 JSME Conference on Advanced Mechatronics, Tokyo, Japan 1993.

....out of the same set of 7 mod ules is proposed. The modules get aggregated by hand. Related work in self reconfigurable robots includes [FK90, PC 96, CPE96, PEC97, Yim93, Yim94, MKK94, YM 97, MK 98] FK90] propose a cellular robotic system is proposed to coordinate a set of specialized modules. [Yim93, Yim94] studies multiple modes of locomotion that are achieved by composing a few basic elements in different ways. MKK94, YM 97, MK 98] consider a system of modules that can achieve planar motion by walking over one another exploiting changes in the polarity of magnetic fields. PC 96, CPE96, PEC97] ....

M. Yim, A Reconfigurable Modular Robot with Multiple Modes of Locomotion, in Proceedings of the 1993 JSME Conference on Advanced Mechatronics, Tokyo, 1993.

....intervention [CLBD92] In [FK90] a cellular robotic system is proposed to coordinate a set of specialized modules. CB97] describe a theoretical framework for counting the number of unique configurations realizable from a set of modules and joints, without considering implementation issues. [Yim93] studies multiple modes of locomotion that are achieved by composing a few basic elements in different ways. Mu94, YM 97] consider a system of modules that can achieve planar motion by walking over each other due to changes in the polarity of magnetic fields. PCSC] describes metamorphic robots ....

M. Yim, A reconfigurable modular robot with multiple modes of locomotion, in Proceedings of the 1993 JSME Conference on Advanced Mechatronics, Tokyo, Japan 1993.

....For example, a self reconfiguring robot can aggregate as a snake to traverse a tunnel and then reconfigure as a six legged robot to traverse rough terrain, such as a Lunar surface, and change shape and gait again to climb stairs and enter a building. We build on the ground breaking work of [14, 17, 12, 5] who introduced the first robot systems capable of self reconfiguration. We have designed a small and simple robotic module we call a Molecule capable of self reconfiguration in three dimensions. The Molecule (see Figure 1) is capable of independent movement on a substrate of identical Molecules, ....

....using external intervention [3] In [5] a cellular robotic system is proposed to coordinate a set of specialized modules. 1] describe a theoretical framework for counting the number of unique configurations realizable from a set of modules and joints, without considering implementation issues. [17] studies multiple modes of locomotion that are achieved by composing a few basic elements in different ways. 12, 18] consider a system of modules 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 ....

M. Yim, A reconfigurable modular robot with multiple modes of locomotion, in Proceedings of the 1993 JSME Conference on Advanced Mechatronics, Tokyo, Japan 1993.

....robots, and designing minimalist robot systems [DJR96, DJR94a] Related work in self organizing robots includes robots in which modules are reconfigurable using external intervention [CLBD92] In [FK90] a cellular robotic system is proposed to coordinate a set of specialized modules. [Yim93] studies multiple modes of locomotion that are achieved by composing a few basic elements in different ways. Mu94] consider a system of modules that can achieve planar motion by walking over each other due to changes in the polarity of magnetic fields. PCSC] describes metamorphic robots that can ....

M. Yim, A reconfigurable modular robot with multiple modes of locomotion, in Proceedings of the 1993 JSME Conference on Advanced Mechatronics, Tokyo, Japan 1993.

....intervention [CLBD92] In [FK90] a cellular robotic system is proposed to coordinate a set of specialized modules. CB97] describe a theoretical framework for counting the number of unique configurations realizable from a set of modules and joints, without considering implementation issues. [Yim93] studies multiple modes of locomotion that are achieved by composing a few basic elements in different ways. Mu94] consider a system of modules that can achieve planar motion by walking over each other due to changes in the polarity of magnetic fields. PCSC] describes metamorphic robots that can ....

M. Yim, A reconfigurable modular robot with multiple modes of locomotion, in Proceedings of the 1993 JSME Conference on Advanced Mechatronics, Tokyo, Japan 1993.

....issues (i.e. miniaturization, distributed control, autonomy) are technical challenges for today s robotic systems. Metamorphic robots were first proposed by a number of robotics researchers. Fukuda and Kawauchi [3] proposed a cellular robotic system to coordinate a set of specialized modules. Yim [15] studied how to achieve multiple modes of locomotion using robots composed by a few basic modules. Murata et al. 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 ....

M. Yim. A reconfigurable modular robot with multiple modes of locomotion. In Proc. JSME Conference on Advanced Mechatronics, 1993.

....intervention [CLBD92] In [FK90] a cellular robotic system is proposed to coordinate a set of specialized modules. CB97] describe a theoretical framework for counting the number of unique configurations realizable from a set of modules and joints, without considering implemen tation issues. [Yim93] studies multiple modes of locomotion that are achieved by composing a few basic elements in different ways. Mu94] consider a system of modules that can achieve planar motion by walking over each other due to changes in the polarity of magnetic fields. PCSC] describes metamorphic robots that can ....

M. Yim, A reconfigurable modular robot with multiple modes of locomotion, in Proceedings of the 1993 JSME Conference on Advanced Mechatronics, Tokyo, Japan 1993.

....be used in tasks that require self assembly and fourth, they provide a robot system with fault tolerance. If a module fails, the rest of the system can self organize to eliminate the bad module from the system and replace its funtion. We build on the ground breaking work of [ Pamecha et al., 1996; Yim 1993; Murata et al., 1994; Fukuda and Kawauchi, 1990 ] who introduced the first robot systems capable of self reconfiguration. We have designed a small and simple robotic module we call a Molecule capable of self reconfiguration in three dimensions. The Molecule (see Figure 1) is capable of independent ....

....Kawauchi, 1990 ] a cellular robotic system is proposed to coordinate a set of specialized modules. Chen and Burdick, 1997 ] describe a theoretical framework for counting the number of unique configurations realizable from a set of modules and joints, without considering implementation issues. Yim 1993 ] studies multiple modes of locomotion that are achieved by composing a few basic elements in di#erent ways. Murata et al., 1994; Yoshida et al., 1997 ] consider a system of modules that can achieve planar motion by walking over each other due to changes in the polarity of magnetic fields. ....

M. Yim, A reconfigurable modular robot with multiple modes of locomotion, in Proceedings of the 1993 JSME Conference on Advanced Mechatronics, Tokyo, Japan 1993.

....Kawauchi, 1990 ] a cellular robotic system is proposed to coordinate a set of specialized modules. Chen and Burdick, 1997 ] describe a theoretical framework for counting the number of unique configurations realizable from a set of modules and joints, without considering implementation issues. Yim 1993 ] studies multiple modes of locomotion that are achieved by composing a few basic elements in di#erent ways. Murata et al., 1994; Yoshida et al., 1997 ] consider a system of modules that can achieve planar motion by walking over each other due to changes in the polarity of magnetic fields. ....

M. Yim, A reconfigurable modular robot with multiple modes of locomotion, in Proceedings of the 1993 JSME Conference on Advanced Mechatronics, Tokyo, 1993.

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M. Yim. A reconfigurable modular robot with multiple modes of locomotion. In Proc. of JSME Conf. on Advanced Mechatronics, pages 283--288, Tokyo, 1993.

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M. Yim, A Reconfigurable Modular Robot with Multiple Modes of Locomotion, in Proceedings of the 1993 JSME Conference on Advanced Mechatronics, Tokyo, 1993.

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