Abstract
This paper introduces the concept of hierarchical
robots, which is a type of modular robots assembled from a
hierarchy of modules, and a preliminary realization of this
concept: the Odin robot. Odin currently consists of ten modules
of two different classes, one class of modules provide structure
and the other actuation. We describe the mechanical design
of these modules and their electrical design with specific focus
on their hybrid communication system whose topology can be
changed on-line. We demonstrate the features of this communication
system in a simple experiment and also demonstrate
how the assembled Odin robot can produce locomotion. While
it is too early to make a conclusion regarding the usefulness of
hierarchical robots in general, we think that our work indicates
that we may be able to simplify the manufactured modules at
the bottom of the hierarchy while increasing the functionality
of the assembled hierarchical robot.
| Original language | English |
|---|---|
| Title of host publication | Proc. of the IROS Workshop on Self-Reconfigurable Modular Robot |
| Publication date | 2007 |
| Publication status | Published - 2007 |
| Externally published | Yes |
| Event | IROS Workshop on Self-Reconfigurable Modular Robot - San Diego, CA, USA Duration: 1 Jan 2007 → … |
Conference
| Conference | IROS Workshop on Self-Reconfigurable Modular Robot |
|---|---|
| City | San Diego, CA, USA |
| Period | 01/01/2007 → … |