A complete, local and parallel reconfiguration algorithm for cube style modular robots

Author

Vassilvitskii, S. ; Yim, Mark ; Suh, John

Author_Institution

Cornell Univ., Ithaca, NY, USA

Volume

1

fYear

2002

fDate

2002

Firstpage

117

Abstract

We present a complete, local, and parallel reconfiguration algorithm for metamorphic robots made up of Telecubes, six degree of freedom cube shaped modules currently being developed at PARC. We show that by using 2 × 2 × 2 meta-modules we can achieve completeness of reconfiguration space using only local rules. Furthermore, this reconfiguration can be done in place and massively in parallel with many simultaneous module movements. Finally we present a loose quadratic upper bound on the total number of module movements required by the algorithm.

Keywords

digital simulation; parallel algorithms; path planning; robots; self-adjusting systems; Telecubes; cube style modular robots; local parallel reconfiguration algorithm; local rules; loose quadratic upper bound; meta-modules; metamorphic robots; self reconfigurable systems; simultaneous module movements; six degree of freedom cube shaped modules; Algorithm design and analysis; Automatic control; Distributed control; Hardware; Orbital robotics; Parallel robots; Shape control; Sorting; Upper bound;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013348

Filename

1013348