DocumentCode
1865683
Title
On the general reconfiguration problem for expanding cube style modular robots
Author
Vassilvitskii, Serguei ; Kubica, Jeremy ; Rieffel, Eleanor ; Suh, John ; Yim, Mark
Author_Institution
Cornell Univ., Ithaca, NY, USA
Volume
1
fYear
2002
fDate
2002
Firstpage
801
Abstract
We discuss the theoretical limitations for reconfiguration of metamorphic robots made up of Telecubes, six degree of freedom cube shaped modules currently being developed at Xerox PARC. We show that by using meta-modules composed of 8 individual modules as a backbone for building the desired shape, we can establish completeness for the reconfiguration as well as time and space bounds for the process. Finally we present several open problems in the field of reconfiguration.
Keywords
computational complexity; robots; self-adjusting systems; Telecubes; Xerox PARC; cube style modular robots; general reconfiguration problem; meta-modules; six degree of freedom cube shaped modules; Crystallization; Hardware; Manipulators; Orbital robotics; Robots; Routing; Shape; Sorting; Spine; Testing;
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.2002.1013456
Filename
1013456
Link To Document