Sciweavers

Share
AROBOTS
2006

Multimode locomotion via SuperBot reconfigurable robots

9 years 7 months ago
Multimode locomotion via SuperBot reconfigurable robots
Abstract One of the most challenging issues for a selfsustaining robotic system is how to use its limited resources to accomplish a large variety of tasks. The scope of such tasks could include transportation, exploration, construction, inspection, maintenance, in-situ resource utilization, and support for astronauts. This paper proposes a modular and reconfigurable solution for this challenge by allowing a robot to support multiple modes of locomotion and select the appropriate mode for the task at hand. This solution relies on robots that are made of reconfigurable modules. Each locomotion mode consists of a set of characteristics for the environment type, speed, turning-ability, energy-efficiency, and recoverability from failures. This paper demonstrates a solution using the SuperBot robot that combines advantages from M-TRAN, CONRO, ATRON, and other chain-based and lattice-based robots. At the present, a single real SuperBot module can move, turn, sidewind, maneuver, and travel on ...
Wei-Min Shen, Maks Krivokon, Harris Chiu, Jacob Ev
Added 10 Dec 2010
Updated 10 Dec 2010
Type Journal
Year 2006
Where AROBOTS
Authors Wei-Min Shen, Maks Krivokon, Harris Chiu, Jacob Everist, Michael Rubenstein, Jagadesh Venkatesh
Comments (0)
books