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A motion planning method for a self-reconfigurable modular robot

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6 Author(s)
Yoshida, E. ; Distributed Syst. Design Res. Group, Intelligent Syst. Inst., Ibaraki, Japan ; Murata, S. ; Kamimura, A. ; Tomita, K.
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This paper addresses motion planning of a homogeneous modular robotic system. The modules have self-reconfiguration capability so that a group of the modules can construct a robotic structure. Motion planning for self-reconfiguration is a kind of computationally difficult problem because of many combinatorial possibilities of modular configuration and the restricted degrees of freedom of the module; only two rotation axes per module. We will show a motion planning method for a class of multimodule structures. It is based on global planning and local motion scheme selection that is effective to solve the complicated planning problem

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Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on  (Volume:1 )

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