Reconfiguration planning for a self-assembling modular robot

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

研究成果: Paper査読

14 被引用数 (Scopus)

抄録

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.

本文言語English
ページ276-281
ページ数6
出版ステータスPublished - 2001
外部発表はい
イベント2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001) - Fukuoka, Japan
継続期間: 2001 5 282001 5 29

Other

Other2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001)
CountryJapan
CityFukuoka
Period01/5/2801/5/29

ASJC Scopus subject areas

  • Engineering(all)

フィンガープリント 「Reconfiguration planning for a self-assembling modular robot」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル