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Journal of Zhejiang University SCIENCE A 2006 Vol.7 No.3 P.368~373

10.1631/jzus.2006.A0368


Mechanical design and locomotion control of a homogenous lattice modular self-reconfigurable robot


Author(s):  Xia Ping, Zhu Xin-jian, Fei Yan-qiong

Affiliation(s):  School of Electronics and Information Technology, Shanghai Jiao Tong University, Shanghai 200030, China; more

Corresponding email(s):   xiaping@sjtu.edu.cn

Key Words:  Robot, Module, Self-reconfigurable, Locomotion control


Xia Ping, Zhu Xin-jian, Fei Yan-qiong. Mechanical design and locomotion control of a homogenous lattice modular self-reconfigurable robot[J]. Journal of Zhejiang University Science A, 2006, 7(3): 368~373.

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author="Xia Ping, Zhu Xin-jian, Fei Yan-qiong",
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%DOI 10.1631/jzus.2006.A0368

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T1 - Mechanical design and locomotion control of a homogenous lattice modular self-reconfigurable robot
A1 - Xia Ping
A1 - Zhu Xin-jian
A1 - Fei Yan-qiong
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EP - 373
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.2006.A0368


Abstract: 
In this paper, we propose a novel, 3D, like cubic shape, modular self-reconfigurable (MSR) robot named M-Cubes. Its key mechanical components are analyzed in detail. By communicating with the neighboring modules, each unit employs its automatic lock device composed of a pin and a hole on each connection plane which can connect or disconnect with neighboring modules. The M-Cubes system consisting of many identical modules cooperates to change their connection, and then the whole structure transforms into arbitrary structure. Furthermore, we describe its locomotion control based on the driving function and the adjacency matrix which is effective for solving the computationally difficult problem and optimizing the system motion path during the self-reconfiguration process. Finally, a simulation experiment using java 3D technology, proved the new method for controlling modular robot is robust and useful.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

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[6] Kotay, K., Rus, D., 1997. Self-reconfigurable Robots for Navigation and Manipulation. Proc. Intl. Symp. on Experimental Robots, p.621-632

[7] Kotay, K., Rus, D., Vona, M., McGray, C., 1998. The Self-reconfiguring Molecule: Design and Control Algorithms. Proc. of the Workshop on the Algorithmic Foundations of Robotics, p.376-386.

[8] Pamecha, A., Ebert-Uphoff, I., Chirikjian, G.S., 1997. Useful metrics for modular robot motion planning. IEEE Trans. on Robotics and Automation, 13(4):531-545.

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[10] Shen, W.M., Salemi, B., Will, P., 2002. Hormone-inspired adaptive communication and distributed control for Conro self-reconfigurable robots. IEEE Trans. on Robotics And Automation, 18(5):700-712.

[11] Ünsal, C., Kiliççöte, H., Khosla, P.K., 2001. A modular self-reconfigurable bipartite robotic system: implementation and motion planning. Autonomous Robots, 10(1):23-40.

[12] Yim, M., Duff, D., Roufas, K.D., 2000. PolyBot: a Modular Reconfigurable Robot. Proc. IEEE Conf. on Rob. & Auto., San Francisco, p.514-520.

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