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ICRA
2009
IEEE

Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture

10 years 9 months ago
Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture
We aim at merging technologies from information technology, roomware, and robotics in order to design adaptive and intelligent furniture. This paper presents design principles for our modular robots, called Roombots, as future building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection and disconnection of modules and rotations of the degrees of freedom. We are furthermore interested in applying Roombots towards adaptive behaviour, such as online learning of locomotion patterns. To create coordinated and efficient gait patterns, we use a Central Pattern Generator (CPG) approach, which can easily be optimized by any gradient-free optimization algorithm. To provide a hardware framework we present the mechanical design of the Roombots modules and an active connection mechanism based on physical latches. Further we discuss the application of our Roombots modules as pieces of a homogenic or heterogenic mix of building blocks for stati...
Alexander Spröwitz, Aude Billard, Pierre Dill
Added 19 Feb 2011
Updated 19 Feb 2011
Type Journal
Year 2009
Where ICRA
Authors Alexander Spröwitz, Aude Billard, Pierre Dillenbourg, Auke Jan Ijspeert
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