DocumentCode
3233756
Title
Representing and discovering the configuration of Conro robots
Author
Castano, Andres ; Will, Peter
Author_Institution
Inf. Sci. Inst., Univ. of Southern California, Marina del Rey, CA, USA
Volume
4
fYear
2001
fDate
2001
Firstpage
3503
Abstract
A Conro reconfigurable robot is formed by joining set of self-contained modules in a particular configuration; the actions of the robot are the result of the coordinated actions of its modules. These actions can be controlled using a master-slave approach only if the master can map the particular configuration of the robot to one that it already knows how to control. We discuss how to describe this configuration using graphs, how to discover a robot configuration and how to identify it as a particular known configuration. The methodology used is very general and can be applied easily to other modular robots. Experimental results for Conro quadrupeds and snakes are presented.
Keywords
graph theory; matrix algebra; mobile robots; Conro reconfigurable robots; master-slave approach; quadrupeds; self-contained modules; snakes; Communication system control; Connectors; Control systems; Master-slave; Motion control; Power supplies; Robot kinematics; Robot sensing systems; Robotic assembly; Shape control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.933160
Filename
933160
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