Repository logo

Infoscience

  • English
  • French
Log In
Logo EPFL, École polytechnique fédérale de Lausanne

Infoscience

  • English
  • French
Log In
  1. Home
  2. Academic and Research Output
  3. Journal articles
  4. Optimal Distribution of Active Modules in Modular Robots
 
research article

Optimal Distribution of Active Modules in Modular Robots

Yao, Meibao
•
Xiao, Xueming
•
Belke, Christoph  
Show more
November 5, 2018
Journal of Mechanisms and Robotics

Reconfigurability in versatile systems of modular robots is achieved by appropriate actuation of their modular units. Optimized distribution of active modules in the modular architecture can significantly reduce cost and energy in the reconfiguration tasks. This paper presents methodology for distribution planning in modular robots that results in minimum number of active modules, while guaranteeing their capability to reconfigure. We discuss the optimal distribution problem in layout-based and target-based planning, so that the modular robots can respond to instant commands for reconfiguration with an initial planar pattern or a target three dimensional configuration as input. We propose heuristic algorithms for the corresponding solution in different scenarios. Our approach is demonstrated by applying the algorithms to Mori, a modular origami robot. The simulation results show that the algorithms yields distribution schemes with high quality, thereby appropriate for real-time applications in modular robotic systems.

  • Details
  • Metrics
Type
research article
DOI
10.1115/1.4041972
Author(s)
Yao, Meibao
Xiao, Xueming
Belke, Christoph  
Cui, Hutao
Paik, Jamie
Date Issued

2018-11-05

Published in
Journal of Mechanisms and Robotics
Volume

11

Issue

1

Article Number

011017

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
NCCR-ROBOTICS  
RRL  
Available on Infoscience
November 17, 2018
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/151487
Logo EPFL, École polytechnique fédérale de Lausanne
  • Contact
  • infoscience@epfl.ch

  • Follow us on Facebook
  • Follow us on Instagram
  • Follow us on LinkedIn
  • Follow us on X
  • Follow us on Youtube
AccessibilityLegal noticePrivacy policyCookie settingsEnd User AgreementGet helpFeedback

Infoscience is a service managed and provided by the Library and IT Services of EPFL. © EPFL, tous droits réservés