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}
}