Representing and Discovering the Configuration of CONRO Robots

Andres Castano and Peter Will. Representing and Discovering the Configuration of CONRO Robots. In Proc. 2001 IEEE Intl. Conf. on Robotics and Automation, pp. 3503–3509, 2001.

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Abstract

A Conro reconfigurable robot is formed by joining a set of self-contained modules in a particular configuration; the actions of the robot are the result of the coordinated actions of its modules. These actions can be controlled using a master-slave approach only if the master can map the particular configuration of the robot to one that it already knows how to control. In this paper we discuss how to describe this configuration using graphs, how to discover a robot configuration and how to identify it as a particular known configuration. The methodology used is very general and can be applied easily to other modular robots. Experimental results for Conro quadrupeds and snakes are presented.

BibTeX Entry

@InProceedings{	  castano2001representing-and-discovering-the-configuration-of-conro,
  abstract	= {A Conro reconfigurable robot is formed by joining a set of
		  self-contained modules in a particular configuration; the
		  actions of the robot are the result of the coordinated
		  actions of its modules. These actions can be controlled
		  using a master-slave approach only if the master can map
		  the particular configuration of the robot to one that it
		  already knows how to control. In this paper we discuss how
		  to describe this configuration using graphs, how to
		  discover a robot configuration and how to identify it as a
		  particular known configuration. The methodology used is
		  very general and can be applied easily to other modular
		  robots. Experimental results for Conro quadrupeds and
		  snakes are presented.},
  author	= {Andres Castano and Peter Will},
  booktitle	= icra-01,
  pages		= {3503--3509},
  title		= {Representing and Discovering the Configuration of {CONRO}
		  Robots},
  year		= {2001}
}