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2000
Springer

Motion Planning for a Self-Reconfigurable Modular Robot

10 years 1 months ago
Motion Planning for a Self-Reconfigurable Modular Robot
: This paper addresses motion planning of a homogeneous modular robotic system. The modules have self-reconfiguration capability so that a group of the modules can construct a robotic structure generating dynamic motion. Motion planning for self-reconfiguration is not straightforward because the modular structure allows many combinatorial configurations, and also the proposed module has only two degrees of freedom. We will show a motion planning method for a particular class of multi-module structure, based on global planning and local motion scheme selection. The fundamental module motion will also be demonstrated through hardware experiments.
Eiichi Yoshida, Satoshi Murata, Akiya Kamimura, Ko
Added 25 Aug 2010
Updated 25 Aug 2010
Type Conference
Year 2000
Where ISER
Authors Eiichi Yoshida, Satoshi Murata, Akiya Kamimura, Kohji Tomita, Haruhisa Kurokawa, Shigeru Kokaji
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