Sciweavers

Share
ICRA
2008
IEEE

Self assembly of modular manipulators with active and passive modules

8 years 8 months ago
Self assembly of modular manipulators with active and passive modules
— We describe self-assembling robot arm systems composed of active modular robots and passive bars. We present a case study where the robotic module is the Shady3D robot and the passive component is a rigid bar with embedded IR LEDs. We propose algorithms that demonstrate the cooperative aggregation of modular robotic manipulators with greater capability and workspace out of these two types of elements. We present results from physical experiments in which two 3DOF Shady3D robots and one rigid bar coordinate to self-assemble into a 6DOF manipulator. We then demonstrate cooperative algorithms for forward and inverse kinematics, grasping, and mobility with this arm.
Seung-kook Yun, Daniela Rus
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Seung-kook Yun, Daniela Rus
Comments (0)
books