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Motion Planning for a Modular Self-Reconfiguring Robotic System [chapter]

Cem Ünsal, Han kilivççöte, Mark E. Patton, Pradeep K. Khosla
2000 Distributed Autonomous Robotic Systems 4  
In this paper, we address the issue of motion planning for a bipartite class of modular self-reconfiguring robotic system (I-Cubes) that is a collection of active elements providing reconfiguration (3-  ...  Current solutions for motion planning and reconfiguration of I-Cubes include multilayered planners that divide a given problem into tractable sub-problems to be evaluated using heuristic methods.  ...  Concluding Remarks We have introduced our results of a divide-and-conquer approach to motion planning for a class of modular self-reconfiguring robotic system.  ... 
doi:10.1007/978-4-431-67919-6_16 fatcat:gqnrem3p35fb3mhmw7iwn7b3wy

Solutions for 3D self-reconfiguration in a modular robotic system: implementation and motion planning

Cem Unsal, Pradeep K. Khosla, Gerard T. McKee, Paul S. Schenker
2000 Sensor Fusion and Decentralized Control in Robotic Systems III  
In this manuscript, we discuss new solutions for mechanical design and motion planning for a class of three-dimensional modular self-reconfigurable robotic system, namely I-Cubes.  ...  This system is a bipartite collection of active links that provide motions for self-reconfiguration, and cubes acting as connection points.  ...  ACKNOWLEDGMENTS The authors would like to thank Andrew Birnbaum, Frederick Hopke, William Hein for their contribution on design and implementation of the system, Brennan Sellner and Kevin Peterson for  ... 
doi:10.1117/12.403737 fatcat:m5l25fi6krhynat6nbpxsxzmbu

A hierarchical motion planning strategy for a uniform self-reconfigurable modular robotic system

K.C. Prevas, C. Unsal, M.O. Efe, P.K. Khosla
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)  
This paper describes a multi-layered hierarchical motion planning strategy for a class of self-reconfigurable modular robotic systems, I-Cubes.  ...  The resulting system is demonstrated to be capable of performing a pre-specified task of moving from one position/shape to another.  ...  The authors would like to thank Dominic Muren, Will Hein, Kevin Peterson, Lemi Daghan Acay and Mike Vande Weghe for their efforts in realizing the physical system.  ... 
doi:10.1109/robot.2002.1013454 dblp:conf/icra/PrevasUEK02 fatcat:wajifmmlzvfbnpqexmyhxpmbpa

A motion planning method for a self-reconfigurable modular robot

E. Yoshida, S. Murata, A. Kamimura, K. Tomita, H. Kurokawa, S. Kokaji
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)  
This paper addresses motion planning of a homogeneous modular robotic system. The modules have selfreconfiguration capability so that a group of the modules can construct a robotic structure.  ...  We will show a motion planning method for a class of multi-module structures.  ...  This paper focuses on a homogeneous self-reconfigurable modular robotic system that can adapt themselves to the external environment by changing their configuration.  ... 
doi:10.1109/iros.2001.973420 dblp:conf/iros/YoshidaMKTKK01 fatcat:77474vbcmjaivlpa6fqcoweahi

Evolutionary Modular Robotics: Survey and Analysis

Reem J. Alattas, Sarosh Patel, Tarek M. Sobh
2018 Journal of Intelligent and Robotic Systems  
Furthermore, evolutionary algorithms were studied to generate global modular robotic behaviors including; self-assembly, self-reconfiguration, self-repair, and self-reproduction.  ...  A number of studies have demonstrated the feasibility of evolutionary algorithms for generating robotic control and morphology. However, a huge challenge faced was how to manufacture these robots.  ...  For many applications, a fixed set of configurations is sufficient. In this case, reconfigurations can be pre-planned off-line and stored in a table for ease of reconfiguration [16] .  ... 
doi:10.1007/s10846-018-0902-9 fatcat:q6loxcv3evdozdn4upbuqlnfwy

Collaborative and robot-based plug & produce for rapid reconfiguration of modular production systems

Michael Wojtynek, Hendrik Oestreich, Oliver Beyer, Sebastian Wrede
2017 2017 IEEE/SICE International Symposium on System Integration (SII)  
In order to combine full automation with high flexibility, we propose a concept for the dynamic composition of automation components in a modular production system that facilitates the rapid adaptation  ...  While the location and orientation of automation components in the modular production system are derived from physical human-robot interaction, the adaptation and verification of the robot behavior is  ...  ACKNOWLEDGMENT This work received funding from the German Federal Ministry of Education and Research (BMBF) within the Leading-Edge Cluster "Intelligent Technical Systems OstWestfalenLippe" (it's OWL)  ... 
doi:10.1109/sii.2017.8279364 dblp:conf/sii/WojtynekOBW17 fatcat:rcqcd66rhfb6fiacpvptwvqsqi

Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics]

Mark Yim, Wei-min Shen, Behnam Salemi, Daniela Rus, Mark Moll, Hod Lipson, Eric Klavins, Gregory Chirikjian
2007 IEEE robotics & automation magazine  
T he field of modular self-reconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology.  ...  Modular self-reconfigurable robotic systems can be generally classified into several architectural groups by the geometric arrangement of their units.  ...  Keywords Modular, self-reconfigurable, self-reconfiguring, robot, grand challenges.  ... 
doi:10.1109/mra.2007.339623 fatcat:s3jvxevcvfcejkrzmovzrglibu

Self-Reconfiguring Robots in the USA

Robert Fitch, Daniela Rus
2003 Journal of the Robotics Society of Japan  
A unique characteristic of this system is that Modular Robots, Self-Reconfiguring Robots, Self-Reconfiguration Planning *6211 Sudikoff Laboratory , Hanover, NH 03755-3510 U.S.A.  ...  modular systems share many design issues with self-reconfigurable systems.  ... 
doi:10.7210/jrsj.21.832 fatcat:nh6yttaevbfivhca56m46wwg4a

Comprehensive Survey of Evolutionary Morphological Soft Robotic Systems [article]

Reem J. Alattas, Sarosh Patel, Tarek M. Sobh
2017 arXiv   pre-print
This paper reviews the literature and discusses various aspects of evolutionary robotics including the application on morphological soft robots to allow self assembly, self reconfiguration, self repair  ...  and research, and hence this article summarizes an important volume of research for a computational and software architecture perspective.  ...  Crystalline -2001 In [48] to accomplish self-repair using Crystalline robot with a focus on geometric motion planning.  ... 
arXiv:1702.02934v5 fatcat:6kfowwun55borprcdasfcidpdy

Self-reconfiguring robots

D. Rus
1998 IEEE Intelligent Systems and their Applications  
Our vision for ultimate robotic design and functionality is to create vastly more versatile robots by building them out of simple modules with general self-reconfiguration capabilities.  ...  A robot designed for a single purpose can perform some specific task well but poorly on some other task, especially in a different environment.  ...  For example, Mark Yim of Xerox PARC defined a reconfiguring system to be "unit modular" if it is homogeneous. Most existing self-reconfiguring robot systems are based on the unitmodular approach.  ... 
doi:10.1109/5254.708423 fatcat:dhfqrzh6yrhenequny6ygbozde

Self-reconfiguring robots

Daniela Rus, Zack Butler, Keith Kotay, Marsette Vona
2002 Communications of the ACM  
Our vision for ultimate robotic design and functionality is to create vastly more versatile robots by building them out of simple modules with general self-reconfiguration capabilities.  ...  A robot designed for a single purpose can perform some specific task well but poorly on some other task, especially in a different environment.  ...  For example, Mark Yim of Xerox PARC defined a reconfiguring system to be "unit modular" if it is homogeneous. Most existing self-reconfiguring robot systems are based on the unitmodular approach.  ... 
doi:10.1145/504729.504752 fatcat:bwu32eakvvhsdhzagbuixioriq

M-TRAN: self-reconfigurable modular robotic system

S. Murata, E. Yoshida, A. Kamimura, H. Kurokawa, K. Tomita, S. Kokaji
2002 IEEE/ASME transactions on mechatronics  
In this paper, a novel robotic system called modular transformer (M-TRAN) is proposed. M-TRAN is a distributed, self-reconfigurable system composed of homogeneous robotic modules.  ...  These software programs are integrated into the M-TRAN system supervised by a host computer. Several demonstrations have proven its capability as a self-reconfigurable robot.  ...  M-TRAN behaves as a lattice type system for self-reconfiguration and then acts as a string-type robotic system.  ... 
doi:10.1109/tmech.2002.806220 fatcat:nn4ul2hyzbh4hfjxtuwm4h6juu

Self-Reconfigurable Robots: Platforms for Emerging Functionality [chapter]

Satoshi Murata, Akiya Kamimura, Haruhisa Kurokawa, Eiichi Yoshida, Kohji Tomita, Shigeru Kokaji
2004 Lecture Notes in Computer Science  
We have studied modular self-reconfigurable robots that are capable of changing their overall shape and functionality by automatic recombination of homogenous robotic modules.  ...  This paper presents a review of hardware design of the module, some developed software for selfreconfiguration and motion generation, and some experimental results.  ...  Motion Generation In this section, we consider motion generation for the self-reconfigurable system.  ... 
doi:10.1007/978-3-540-27833-7_24 fatcat:sarqoxii2bewdflaxw6nlbv3u4

Cross-Ball: A new morphogenetic self-reconfigurable modular robot

Yan Meng, Yuyang Zhang, Abhay Sampath, Yaochu Jin, Bernhard Sendhoff
2011 2011 IEEE International Conference on Robotics and Automation  
We aim to develop a new self-reconfigurable modular robot, Cross-Ball, so that we can apply bio-inspired morphogenesis mechanisms to modular robots to adapt to dynamic environments automatically.  ...  Furthermore, a skeleton-based approach is proposed for the motion control of the modules, where the module movements can be conducted in groups to improve the system reconfiguration efficiency.  ...  Cross-Ball: A New Morphogenetic Self-Reconfigurable Modular Robot II. THE DESIGN OF THE CROSS-BALL MODULAR ROBOT A.  ... 
doi:10.1109/icra.2011.5979973 dblp:conf/icra/MengZSJS11 fatcat:np266xjetndepjhfqamsatreoq

A Self-Reconfigurable Modular Robot: Reconfiguration Planning and Experiments

Eiichi Yoshida, Satoshi Murata, Akiya Kamimura, Kohji Tomita, Haruhisa Kurokawa, Shigeru Kokaji
2002 The international journal of robotics research  
In this paper we address a reconfiguration planning method for locomotion of a homogeneous modular robotic system and we conduct an experiment to verify that the planned locomotion can be realized by hardware  ...  Although the module itself is a simple mechanism, self-reconfiguration planning for locomotion presents a computationally difficult problem due to the many combinatorial possibilities of modular configurations  ...  Conclusions In this paper we have discussed the reconfiguration planning for locomotion of a self-reconfigurable modular robot and conducted experiments of the planned locomotion.  ... 
doi:10.1177/0278364902021010835 fatcat:cs5slbj2jvhftkob7jrc6pksqe
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