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

David Johan Christensen; Kasper Strøy

doi:10.1109/ROBOT.2006.1642083

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

David Johan Christensen
, Kasper Strøy

University of Southern Denmark

Research output: Contribution to journal › Conference article › Research › peer-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 language	English
Journal	I E E E International Conference on Robotics and Automation. Proceedings
Pages (from-to)	2532-2538
ISSN	1050-4729
DOIs	https://doi.org/10.1109/ROBOT.2006.1642083
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
Country/Territory	United States
City	Orlando
Period	15/05/2006 → 19/05/2006
Internet address	https://ieeexplore.ieee.org/xpl/conhome/10932/proceeding

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10.1109/ROBOT.2006.1642083

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@inproceedings{8be400a3ce8f42b3ae3c0a05e7b1e760,

title = "Selecting a Meta-Module to Shape-Change the ATRON Self-Reconfigurable Robot",

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",

author = "Christensen, \{David Johan\} and Kasper Str{\o}y",

year = "2006",

doi = "10.1109/ROBOT.2006.1642083",

language = "English",

pages = "2532--2538",

journal = "I E E E International Conference on Robotics and Automation. Proceedings",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2006 IEEE International Conference on Robotics and Automation, ICRA 2006 ; Conference date: 15-05-2006 Through 19-05-2006",

url = "https://ieeexplore.ieee.org/xpl/conhome/10932/proceeding",

}

TY - GEN

T1 - Selecting a Meta-Module to Shape-Change the ATRON Self-Reconfigurable Robot

AU - Christensen, David Johan

AU - Strøy, Kasper

PY - 2006

Y1 - 2006

N2 - 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

AB - 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

U2 - 10.1109/ROBOT.2006.1642083

DO - 10.1109/ROBOT.2006.1642083

M3 - Conference article

SN - 1050-4729

SP - 2532

EP - 2538

JO - I E E E International Conference on Robotics and Automation. Proceedings

JF - I E E E International Conference on Robotics and Automation. Proceedings

T2 - 2006 IEEE International Conference on Robotics and Automation

Y2 - 15 May 2006 through 19 May 2006

ER -

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

Abstract

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