Modular robots

Author

Yim, Mark ; Zhang, Ying ; Duff, David

Author_Institution

Xerox Palo Alto Res. Center, CA, USA

Volume

39

Issue

2

fYear

2002

fDate

2/1/2002 12:00:00 AM

Firstpage

30

Lastpage

34

Abstract

Modular reconfigurable robots-experimental systems made by interconnecting multiple, simple, similar units-can perform shape shifting. A robot made up of a chain of simple hinge joints could shape itself into a loop and move by rolling like a self-propelled tank tread; then break open the loop to form a serpentine configuration and slither under or over obstacles; and then rearrange its modules to "morph" into a multilegged spider, able to stride over rocks and bumpy terrain. This robot, dubbed PolyBot, is being built and experimented with at Xerox Palo Alto Research Center (PARC), in California. This paper describes the main features of PolyBot and how it works. Programming of PolyBot is also discussed

Keywords

mobile robots; robot programming; PolyBot; Xerox Palo Alto Research Center; bumpy terrain; hinge joints; modular reconfigurable robots; multilegged spider; multiple units interconnection; programming; rocks; self-propelled tank tread; serpentine configuration; Costs; Degradation; Humans; Manipulators; Redundancy; Robot kinematics; Robot programming; Robustness; Shape; Turning;

fLanguage

English

Journal_Title

Spectrum, IEEE

Publisher

ieee

ISSN

0018-9235

Type

jour

DOI

10.1109/6.981854

Filename

981854