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Scalable and reconfigurable configurations and locomotion gaits for chain-type modular reconfigurable robots

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5 Author(s)
Ying Zhang ; Palo Alto Res. Center, CA, USA ; Yim, M. ; Eldershaw, C. ; Duff, D.
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Modular reconfigurable robots have shown the promises of great versatility and robustness; however they also impose design challenges on mechanical, electronic and software scalability. In this paper, we present a class of configurations that are scalable mechanically and electronically. Moreover, there exists a predefined reconfiguration sequence between any of the three configurations, namely, snakes, centipedes, and multi-loops. Locomotion gaits for the three configurations are defined and created using Phase Automata, a generalization of gait tables. The system has been tested both in simulation of 100+ modules and in hardware of 50+ modules.

Published in:

Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on  (Volume:2 )

Date of Conference:

16-20 July 2003