A motion planning method for a self-reconfigurable modular robot

Eiichi Yoshida, Satoshi Murata, Akiya Kamimura, Kohji Tomita, Haruhisa Kurokawa, Shigeru Kokaji

Research output: Contribution to conferencePaper

48 Citations (Scopus)

Abstract

This paper addresses motion planning of a homogeneous modular robotic system. The modules have self-reconfiguration capability so that a group of the modules can construct a robotic structure. Motion planning for self-reconfiguration is a kind of computationally difficult problem because of many combinatorial possibilities of modular configuration and the restricted degrees of freedom of the module; only two rotation axes per module. We will show a motion planning method for a class of multi-module structures. It is based on global planning and local motion scheme selection that is effective to solve the complicated planning problem.

Original languageEnglish
Pages590-597
Number of pages8
Publication statusPublished - 2001
Externally publishedYes
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: 2001 Oct 292001 Nov 3

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period01/10/2901/11/3

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H., & Kokaji, S. (2001). A motion planning method for a self-reconfigurable modular robot. 590-597. Paper presented at 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, United States.