PolyBot: a modular reconfigurable robot
Yim, M.
Duff, D.G.
Roufas, K.D.
Xerox Palo Alto Res. Center, CA;
This paper appears in: Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Publication Date: 2000
Volume: 1,
On page(s): 514-520 vol.1
Meeting Date: 04/24/2000 - 04/28/2000
Location: San Francisco, CA, USA
ISBN: 0-7803-5886-4
References Cited: 20
INSPEC Accession Number: 6651209
Digital Object Identifier: 10.1109/ROBOT.2000.844106
Current Version Published: 2002-08-06
Abstract
Modular, self-reconfigurable robots show the promise of great
versatility, robustness and low cost. The paper presents examples and
issues in realizing those promises. PolyBot is a modular,
self-reconfigurable system that is being used to explore the hardware
reality of a robot with a large number of interchangeable modules.
PolyBot has demonstrated the versatility promise, by implementing
locomotion over a variety of terrain and manipulation versatility with a
variety of objects. PolyBot is the first robot to demonstrate
sequentially two topologically distinct locomotion modes by
self-reconfiguration. PolyBot has raised issues regarding software
scalability and hardware dependency and as the design evolves the issues
of low cost and robustness will be resolved while exploring the
potential of modular, self-reconfigurable robots
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