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Docking Experiments of a Modular Robot by Visual Feedback

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3 Author(s)
Murata, S. ; Tokyo Inst. of Technol., Kanagawa ; Kakomura, K. ; Kurokawa, H.

We have been developing a self-reconfigurable robot M-TRAN. In this paper, we focus on the docking of M-TRAN modules. In order to dock modules in separate configurations, we use a camera module, which is compatible to the M-TRAN system. Proposed docking is a combination of a simple visual feedback procedure and a special docking configuration to absorb positional errors. We verified reliability of the docking method by experiments

Published in:

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Date of Conference:

9-15 Oct. 2006

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