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
Keyword: Centralised control,Path planning,Robots,Motion control,Decentralised control
| Original language | English |
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| Journal | I E E E International Conference on Robotics and Automation. Proceedings |
| Pages (from-to) | 2532-2538 |
| ISSN | 1050-4729 |
| DOIs | |
| Publication status | Published - 2006 |
| Externally published | Yes |
| Event | 2006 IEEE International Conference on Robotics and Automation - Orlando, United States Duration: 15 May 2006 → 19 May 2006 https://ieeexplore.ieee.org/xpl/conhome/10932/proceeding |
Conference
| Conference | 2006 IEEE International Conference on Robotics and Automation |
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| Country/Territory | United States |
| City | Orlando |
| Period | 15/05/2006 → 19/05/2006 |
| Internet address |