Reconfiguration planning for a self-assembling modular robot

E. Yoshida, S. Murata, A. Kamimura, K. Tomita, H. Kurokawa, S. Kokaji

Research output: Contribution to conferencePaperpeer-review

14 Citations (Scopus)


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 various robotic structures. Motion planning for self-reconfiguration is a kind of computationally difficult problem because of many combinatorial possibilities of modular configuration against 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 a multi-module structure, based on global planning and local motion scheme selection that is effective to solve the complicated planning problem. The fundamental motion will also be demonstrated through hardware experiments.

Original languageEnglish
Number of pages6
Publication statusPublished - 2001
Externally publishedYes
Event2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001) - Fukuoka, Japan
Duration: 2001 May 282001 May 29


Other2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001)

ASJC Scopus subject areas

  • Engineering(all)


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