Title :
Docking Experiments of a Modular Robot by Visual Feedback
Author :
Murata, Satoshi ; Kakomura, Kiyoharu ; Kurokawa, Haruhisa
Author_Institution :
Tokyo Inst. of Technol., Kanagawa
Abstract :
We have been developing a self-reconfigurable robot M-TRAN. In this paper, we focus on the docking of M-TRAN modules. In order to dock modules in separate configurations, we use a camera module, which is compatible to the M-TRAN system. Proposed docking is a combination of a simple visual feedback procedure and a special docking configuration to absorb positional errors. We verified reliability of the docking method by experiments
Keywords :
mobile robots; self-adjusting systems; M-TRAN system; modular robot; self-reconfigurable robot; visual feedback procedure; Cameras; Feedback; Infrared sensors; Intelligent robots; Lattices; Orbital robotics; Periodic structures; Robot sensing systems; Robot vision systems; Scalability; M-TRAN; Modular robot; Scalability; Self-reconfiguration; Visual feedback;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282545
