In all the videos, modules in different substructures reconfigure in parallel which speeds up the process
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4-module Snake to Star
(Implemented by MorphLine) |
Only need 3 attach actions and 3 detach actions . It
is the optimal reconfiguration solution with least number of actions |
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8-module Star to Snake
(Implemented by MorphLine) |
Only need 3 attach actions and 3 detach actions . It
is the optimal reconfiguration solution with least number of actions |
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4-module Climber to Star
(Implemented by MorphLine) |
Only need 3 attach actions and 3 detach actions . It
is the optimal reconfiguration solution with least number of actions |
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8-module Climber to Snake
(Implemented by MorphLine) |
Only need 7 attach actions and 7 detach actions . It
is the optimal reconfiguration solution with least number of actions |
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4-module Star to RollingSpiral
(Implemented by MorphLine) |
Intermediate Snake configuration is used to
transform from Star to RollingSpiral. Reconfiguration between
Climber and Star, Climber and RollingSpiral can be achived in the same
way. |
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10-module Quadruped to Dumbbell
(Implemented by MorphLine) |
Center pieces are detected common between Quardruped and Dumbbell, and are kept unchanged to save reconfiguration
cost. |
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12-module
Human to StiltWalker(Implemented by MorphLine) |
The head of human and stiltWalker are detected common
and kept unchanged to save reconfiguration cost. |
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12-module
Human to StiltWalker(Implemented by Greedy Configuration Matching) |
Only need 2 attach and 2 detached actions. More
common sub-configuration are detected by greedy configuration matching |
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12-module Human to StiltWalker(Implemented by Optimal Configuration Matching) |
Only need 1 attach and 1 detach actions. It is the
optimal reconfiguration solution with least number of actions. |
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15-module Bow-and-arrow to Long-arm Biped(Implemented by MorphLine) |
Reconfiguration solution is achieved by MorphLine |
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15-module Bow-and-arrow to Long-arm Biped(Implemented by integrating configuration matching with MorphLine) |
The number of reconfiguration actions is greatly
reduced by incorporating configuration matching with MorphLine |
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