Docking among independent and autonomous CONRO self-reconfigurable robots

M. Rubenstein, K. Payne, P. Will, Wei-Min Shen
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
Docking between independent groups of selfreconfigurable robotic modules enables the merger of two or more independent self-reconfigurable robots. This ability allows independent reconfigurable robots in the same environment to join together to complete a task that would otherwise not be possible with the individual robots prior to merging. The challenges for this task include (1) coordinate and align two independent self-reconfigurable robots using the docking guidance system available only at
more » ... the connectors of the docking modules; (2) overcome the inevitable errors in the alignment by a novel and coordinated movements from both docking ends; (3) ensure the secure connection at the end of docking; (4) switch configuration and let modules to discover the changes and new connections so that the two docked robots will move as a single coherent robot. We have developed methods for overcome these challenging problems and accomplished for the first time an actual docking between two independent CONRO robots each with multiple modules.
doi:10.1109/robot.2004.1307497 dblp:conf/icra/RubensteinPWS04 fatcat:uupvxkhwgfcwrjeajxeosvckta