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

Cem Unsal; Pradeep K. Khosla

doi:10.1117/12.403737

16 October 2000 Solutions for 3D self-reconfiguration in a modular robotic system: implementation and motion planning

Cem Unsal, Pradeep K. Khosla

Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000) https://doi.org/10.1117/12.403737
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

In this manuscript, we discuss new solutions for mechanical design and motion planning for a class of 3D 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. The links are three degree of freedom manipulators that can attach to and detach from the cube faces. The cubes can be positioned and oriented using the links. These capabilities enable the system to change its shape and perform locomotion tasks over difficult terrain. This paper describes the scaled down version of the system previously described in and details the new design and manufacturing approaches. Initially designed algorithms for motion planning of I-Cubes are improved to provide better results. Results of our tests are given and issues related to motion planning are discussed. The user interfaces designed for the control of the system and algorithm evaluation is also described.

Citation Download Citation

Cem Unsal and Pradeep K. Khosla "Solutions for 3D self-reconfiguration in a modular robotic system: implementation and motion planning", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); https://doi.org/10.1117/12.403737

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