Cart (Loading....) | Create Account
Close category search window

Reconfigurable group robots adaptively transforming a mechanical structure - Extended criteria for load-adaptive transformations -

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Suzuki, Y. ; Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo ; Inou, N. ; Koseki, M. ; Kimura, H.

This study deals with a control method of a modular robotic system ldquoCHOBIE II.rdquo Our purpose is to realize a function that CHOBIE II forms a self-reconfigurable structure adaptively to mechanical environments. In the previous paper, we introduced a method to express criteria for generating transformations. A criterion is regulated by 32 parameters corresponding to 32 kinds of local shapes on contour of the structure. According to the criterion, CHOBIE II can dissolve undesirable local shapes and transform to goal configurations. In this paper, we propose a method to realize load-adaptive motion extending the criterion. Specifically, we add two new criteria to induce desirable local shapes and to change priorities of motions depending on a load condition. We show the availability of the method by simulation results that the modular robots construct a cantilever structure avoiding overstressed states.

Published in:

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Date of Conference:

22-26 Sept. 2008

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.