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ICRA
1999
IEEE

Self-Reconfiguration Planning with Compressible Unit Modules

13 years 8 months ago
Self-Reconfiguration Planning with Compressible Unit Modules
We discuss a robotic system composed of Crystalline modules. Crystaline modules can aggregate together to form distributed robot systems. Crystalline modules can move relative to each other by expanding and contracting. This actuation mechanism permits automated shape metamorphosis. We describe the crystalline module concept and show the basic motions that enable a crystalline robot system to selfreconfigure. We present an algorithm for general selfreconfiguration and describe simulation experiments.
Daniela Rus, Marsette Vona
Added 03 Aug 2010
Updated 03 Aug 2010
Type Conference
Year 1999
Where ICRA
Authors Daniela Rus, Marsette Vona
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