Selecting a Meta-Module to Shape-Change the ATRON Self-Reconfigurable Robot

David Johan Christensen, Kasper Strøy

Research output: Contribution to journalConference articleResearchpeer-review

Abstract

The ATRON self-reconfigurable robot consists of simple one degree of freedom ATRON modules. The motion capabilities of an individual module are therefore quite limited. To compensate for this, meta-modules composed of more than one module are used to shape-change the system. Meta-modules emerge from the environment created by other modules, move on the surface of other modules and stop at a new position. The flow of meta-modules, from one place to another on the structure of modules, realizes the desired self-reconfiguration. In this paper we compare six different meta-module types composed of ATRON modules. Variations of meta-module morphology and meta-actions are investigated for its ability to shapechange the robot. We conclude that two of the investigated meta-module types are able to shape-change the robot to an acceptable extent.
Keyword: Centralised control,Path planning,Robots,Motion control,Decentralised control
Original languageEnglish
JournalI E E E International Conference on Robotics and Automation. Proceedings
Pages (from-to)2532-2538
ISSN1050-4729
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE International Conference on Robotics and Automation - Orlando, FL, United States
Duration: 15 May 200619 May 2006
http://www.informatik.uni-trier.de/~ley/db/conf/icra/icra2006.html

Conference

Conference2006 IEEE International Conference on Robotics and Automation
CountryUnited States
CityOrlando, FL
Period15/05/200619/05/2006
Internet address

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