The Assemble and Animate Control Framework for Modular Reconfigurable Robots

David Johan Christensen, Ulrik Pagh Schultz, Mikael Moghadam

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Abstract

This paper describes the “Assemble and Animate” (ASE) control framework. The objective of ASE is to provide a flexible and extendable control framework, which facilitates rapid development and deployment of modular reconfigurable robots. ASE includes a simple event-driven application framework, a library of common control and adaptation strategies, and a module abstraction layer which allows ASE to be cross-compiled for a number of different modular robotic platforms and easily ported to new platforms. In this paper we describe the design of ASE and present example applications utilizing ASE for planetary contingency, adaptive locomotion, self-reconfiguration, and tangible behavior-based programming.
Original languageEnglish
Title of host publicationProceedings of the IROS Workshop on Reconfigurable Modular Robotics : Challenges of Mechatronic and Bio-Chemo-Hybrid Systems
Publication date2011
Publication statusPublished - 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems - San Francisco, CA, United States
Duration: 25 Sep 201130 Sep 2011

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CitySan Francisco, CA
Period25/09/201130/09/2011

Cite this

Christensen, D. J., Schultz, U. P., & Moghadam, M. (2011). The Assemble and Animate Control Framework for Modular Reconfigurable Robots. In Proceedings of the IROS Workshop on Reconfigurable Modular Robotics: Challenges of Mechatronic and Bio-Chemo-Hybrid Systems http://www.iros2011.org/