Transformation of Control in Congruent Self-Reconfigurable Robot Topologies
Jacob Everist, Feili Hou, and Wei-Min Shen. Transformation of Control in Congruent Self-Reconfigurable Robot Topologies. In Proc. 2006 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, Beijing, China, October 2006.
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Abstract
Much work on self-reconfigurable robotics has been focused on motion planning and physical reconfiguration of the robot. Using the Superbot self-reconfigurable robot, we focus on the details of realizing locomotion gaits given that a single robot topology can be realized in a large number of different ways. That is, each module in the robot topology has 4 symmetric orientations that are functional and shape equivalent. Once a role is selected for each module, such as through the use of hormone-inspired control, each module's role is supplied with a gait template which then must be transformed to suit the local configurations of each module with respect to the global topology. We provide a theoretical framework for which this can be accomplished.
BibTeX Entry
@InProceedings{ everist2006transformation-of-control-in-congruent-self-reconfigurable, abstract = {Much work on self-reconfigurable robotics has been focused on motion planning and physical reconfiguration of the robot. Using the Superbot self-reconfigurable robot, we focus on the details of realizing locomotion gaits given that a single robot topology can be realized in a large number of different ways. That is, each module in the robot topology has 4 symmetric orientations that are functional and shape equivalent. Once a role is selected for each module, such as through the use of hormone-inspired control, each module's role is supplied with a gait template which then must be transformed to suit the local configurations of each module with respect to the global topology. We provide a theoretical framework for which this can be accomplished. }, address = {Beijing, China}, author = {Jacob Everist and Feili Hou and Wei-Min Shen}, booktitle = iros-06, month = oct, title = {Transformation of Control in Congruent Self-Reconfigurable Robot Topologies}, year = {2006} }
