Title :
Task-reconfigurable robots: navigators and manipulators
Author :
Kotay, Keith D. ; Rus, Daniela L.
Author_Institution :
Dept. of Comput. Sci., Dartmouth Coll., Hanover, NH, USA
Abstract :
Task-reconfigurable robots consist of a set of one or more identical autonomous modules that can adapt their shape and function to tasks. We describe a module, the Inchworm robot, that can function as a climbing robot, a manipulator, or a leg in a multi-legged walker. This module can make autonomous transitions between these states. We present the control algorithms that enable our robot to be a versatile navigator and manipulator and report on our experimental results
Keywords :
legged locomotion; manipulators; motion control; Inchworm robot; autonomous modules; climbing robot; control algorithms; multi-legged walker; navigators; task-reconfigurable robots; Algorithm design and analysis; Computer science; Educational institutions; Leg; Legged locomotion; Manipulators; Navigation; Robots; Robustness; Shape control;
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location :
Grenoble
Print_ISBN :
0-7803-4119-8
DOI :
10.1109/IROS.1997.655144
