Docking experiments of a modular robot by visual feedback

Satoshi Murata, Kiyoharu Kakomura, Haruhisa Kurokawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

33 Citations (Scopus)

Abstract

We have been developing a self-reconfigurable robot M-TRAN. In this paper, we focus on the docking of M-TRAN modules. In order to dock modules in separate configurations, we use a camera module, which is compatible to the M-TRAN system. Proposed docking is a combination of a simple visual feedback procedure and a special docking configuration to absorb positional errors. We verified reliability of the docking method by experiments.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages625-630
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

Keywords

  • M-TRAN
  • Modular robot
  • Scalability
  • Self-reconfiguration
  • Visual feedback

ASJC Scopus subject areas

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

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