R. Cohen, M. Lipton, M. Dai, and B. Benhabib. Conceptual design of a modular robot. In Journal of Mechanical Design, pp. 117-125, March 1992.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....from our experience using this simulator, and describe some physical experiments with Crystals. In our lab, we have built 12 Crystalline Atoms. 2 Related work Related work in self recon guring robots includes that by Cohen et al., in which modules are recon gurable using external intervention [3]. 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 [22] Yim studies multiple modes of locomotion that are achieved physically by manually composing a few basic elements in ....

R. Cohen, M. Lipton, M. Dai, and B. Benhabib. Conceptual design of a modular robot. In Journal of Mechanical Design, pp. 117-125, March 1992.

....phase is of a task directed, geometric nature. Our modular self reconfiguring robots are aggregated according to task and we can view reachability as a specific kind of task. 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. 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 ....

R. Cohen, M. Lipton, M. Dai, and B. Benhabib, Conceptual design of a modular robot, Journal of Mechanical Design, March 1992, pp. 117-125.

....is determined, an action plan for the robot to complete the task is assembled from the software modules. An example software module is a function to command the robot to move its front right leg forward. Again a genetic algorithm and a simulation are used to evolve the required plan. Figure 9 shows a plan for one robot assembly applied to the inspection task. In this plan 33 action modules are assembled to produce a successful plan. For a more complete discussion of this planning work refer to reference [1] y 0 10 20 30 40 43 remote inspection area Start insertion gap The ....

Cohen, R. Lipton, M., Dai, M. and Benhabib, B. "Conceptual Design of a Modular Robot." Journal of Mechanical Design, Mar 1992. vol. 114, pp. 117-25.

....in the crystal. We also describe a simulator we have built to study crystalline robot systems and give examples from our experience using this simulator. 2 Related work Related work in self reconfiguring robots includes robots in which modules are reconfigurable using external intervention [5]. In [6] a cellular robotic system is proposed to coordinate a set of specialized modules. Several specialized modules and ways of composing them were proposed. 30] studies multiple modes of locomotion that are achieved by manually composing a few basic elements in di#erent ways. This work also ....

R. Cohen, M. Lipton, M. Dai, and B. Benhabib. Conceptual design of a modular robot. In Journal of Mechanical Design, pp. 117-125, March 1992.

....phase is of a task directed, geometric nature. Our modular self reconfigurable robots are aggregated according to task and we can view reachability as a specific kind of task. 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. 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 ....

R. Cohen, M. Lipton, M. Dai, and B. Benhabib, Conceptual design of a modular robot, Journal of Mechanical Design, March 1992, pp. 117-125.

....phase is of a task directed, geometric nature. Our modular selfreconfiguring robots are aggregated according to task and we can view reachability as a specific kind of task. Related work in self organizing robots includes robots in which modules are reconfigurable 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 ....

R. Cohen, M. Lipton, M. Dai, and B. Benhabib, Conceptual design of a modular robot, Journal of Mechanical Design, March 1992, pp. 117-125.

.... experiences with navigation algorithms [Lat91] designing self organizing robots, designing biologically inspired 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 ....

R. Cohen, M. Lipton, M. Dai, and B. Benhabib, Conceptual design of a modular robot, Journal of Mechanical Design, March 1992, pp. 117-125.

....and the planning phase is of a task directed, geometric nature. Our modular robots are aggregated according to task and we can view reachability as a specific kind of task. 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. 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 ....

R. Cohen, M. Lipton, M. Dai, and B. Benhabib, Conceptual design of a modular robot, Journal of Mechanical Design, March 1992, pp. 117-125.

....and the planning phase is of a task directed, geometric nature. Our modular robots are aggregated according to task and we can view reachability as a specific kind of task. 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. 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 ....

R. Cohen, M. Lipton, M. Dai, and B. Benhabib, Conceptual design of a modular robot, Journal of Mechanical Design, March 1992, pp. 117-125.

....1996 ] In [ Paredis and Khosla, 1995 ] a method for designing various robotic arms with di#erent reachability properties out of the same set of 7 modules is proposed. Related work in self reconfiguring robots includes robots in which modules are reconfigurable using external intervention [ Cohen et at, 1992 ] In [ Fukuda and 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 ....

R. Cohen, M. Lipton, M. Dai, and B. Benhabib, Conceptual design of a modular robot, Journal of Mechanical Design, March 1992, pp. 117-125.

....phase is of a task directed, geometric nature. Our modular self reconfiguring robots are aggregated according to task and we can view reachability as a specific kind of task. Related work in self organizing robots includes robots in which modules are reconfigurable using external intervention [ Cohen et at, 1992 ] In [ Fukuda and 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 ....

R. Cohen, M. Lipton, M. Dai, and B. Benhabib, Conceptual design of a modular robot, Journal of Mechanical Design, March 1992, pp. 117-125.

....can be easily separated and reassembled into different configurations. Because of their potential adaptability, modular robotic systems have received significant attention recently. Several papers have been devoted to the mechanical design and construction of modular robotic systems (Wurst 1986; Cohen et al. 1992). Others have considered modular robot software and control architectures (Stewart, Volpe and Khosla 1992) Prototype modular systems have actually been built and demonstrated, including the Reconfigurable Modular Manipulator System (RMMS) developed by Khosla and coworkers at CMU (Schmitz, Khosla ....

.... (Fukuda and Nakagawa 1988) For the purposes of this paper, it should be noted that the modular systems developed or proposed to date have several common mechanical and structural features: 1) they contain two basic structure elements: link and joint modules (Schmitz, Khosla and Kanade 1988; Cohen et al. 1992; Fukuda and Nakagawa 1988; Wurst 1986) 2) they employ simple joint designs: most of them have only 1 DOF revolute joints and 1 DOF prismatic joints (Schmitz, Khosla and Kanade 1988; Cohen et al. 1992; Fukuda and Nakagawa 1988) 3) for interchangeability, the link geometries possess certain ....

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Cohen, R., Lipton, M. G., Dai, M. Q. and Benhabib, B. March, 1992. Conceptual Design of a Modular Robot. ASME J. Mechanical Design 114:117--125.

....in the crystal. We also describe a simulator we have built to study crystalline robot systems and give examples from our experience using this simulator. 2 Related work Related work in self reconfiguring robots includes robots in which modules are reconfigurable using external intervention [5]. In [6] a cellular robotic system is proposed to coordinate a set of specialized modules. Several specialized modules and ways of composing them were proposed. No physical modules were built. 30] studies multiple modes of locomotion that are achieved by manually composing a few basic elements in ....

R. Cohen, M. Lipton, M. Dai, and B. Benhabib. Conceptual design of a modular robot. In Journal of Mechanical Design, pp. 117-125, March 1992.

....and joint modules of various sizes and performance specifications. One such module is shown in Figure 2. By combining these general purpose modules, a wide range of special purpose manipulators can be assembled. Recently, there has been considerable interest in the idea of modular manipulators [2, 4, 5, 7, 9, 10, 14], for research applications as well as for industrial applications. However, most of these systems lack the property of reconfigurability, which is key to the concept of rapidly deployable systems. The RMMS is particularly easy to reconfigure thanks to its integrated quick coupling connectors ....

R. Cohen et al. "Conceptual Design of a Modular Robot," Transactions of the ASME: Journal of Mechanical Design, Vol. 114, pp. 117--125, March 1992.

....can be easily separated and reassembled into different configurations through standardized connecting interfaces. By reconfiguring the modules, different robots can be created so as to suit a diversity of task requirements. Several prototype modular robotic systems have been built and demonstrated [3,5,12,14]. Let the arrangement and assembly of modules in a modular robot be called an assembly configuration. We consider the task oriented optimal configuration problem in this paper i.e. how to to find an optimal assembly configuration from a set of modules for a specific task. We assume that the set ....

R. Cohen, M. G. Lipton, M. Q. Dai and B. Benhabib, "Conceptual Design of a Modular Robot," ASME J. Mechanical Design, 114, pp. 117-125, March, 1992.

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R. Cohen, M. Lipton, M. Dai, and B. Benhabib, Conceptual design of a modular robot, Journal of Mechanical Design, March 1992, pp. 117-125.

No context found.

R. Cohen, M. Lipton, M. Dai, and B. Benhabib, Conceptual design of a modular robot, Journal of Mechanical Design, March 1992, pp. 117-125.

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Cohen, R. et al. 1992. Conceptual Design of a Modular Robot. Transactions of the ASME: Journal of Mechanical Design. Vol. 114. pp. 117--125.

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