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.
|Number of pages||6|
|Publication status||Published - 2001|
|Event||2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001) - Fukuoka, Japan|
Duration: 2001 May 28 → 2001 May 29
|Other||2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001)|
|Period||01/5/28 → 01/5/29|
ASJC Scopus subject areas