Locomotion through Reconfiguration based on Motor Primitives for Roombots Self-Reconfigurable Modular Robots

We present the hardware and reconfiguration experiments for an autonomous self-reconfigurable modular robot called Roombots (RB). RB were designed to form the basis for self-reconfigurable furniture. Each RB module contains three degrees of freedom that have been carefully selected to allow a single module to reach any position on a 2-dimensional grid and to overcome concave corners in a 3-dimensional grid. For the first time we demonstrate locomotion capabilities of single RB modules through reconfiguration with real hardware. The locomotion through reconfiguration is controlled by a planner combining the well-known D* algorithm and composed motor primitives. The novelty of our approach is the use of an online running hierarchical planner closely linked to the real hardware.


Presented at:
7th German Conference on Robotics - Robotik 2012, Munich, Germany, May 22-25, 2012
Year:
2012
Keywords:
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 Record created 2012-04-26, last modified 2018-06-27

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