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NCA
2010
IEEE

Anatomy-based organization of morphology and control in self-reconfigurable modular robots

7 years 10 months ago
Anatomy-based organization of morphology and control in self-reconfigurable modular robots
In this paper we address the challenge of realizing full-body behaviors in scalable modular robots. We present an experimental study of a biologically inspired approach to organize the morphology and control of modular robots. The approach introduces a nested hierarchy which decomposes the complexity of assembling and commanding a functional robot made of numerous simple modules. The purpose is to support ver, scalability, and provide design abstraction. The robots we describe incorporate anatomy-inspired parts such as muscles, bones and joints, and these parts in turn are assembled from modules. Each of those parts encapsulates one or more functions, e.g. a muscle can contract. Control of the robot can then be cast as a problem of controlling its anatomical parts rather than each discrete module. To validate this approach we perform experiments with micron-scale spherical catom modules in simulation. The robots we simulate are increasingly complex and include snake, crawler, quadruped...
David Johan Christensen, Jason Campbell, Kasper St
Added 20 May 2011
Updated 20 May 2011
Type Journal
Year 2010
Where NCA
Authors David Johan Christensen, Jason Campbell, Kasper Støy
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