Title :
Smart locomotion generation based on automatic orientation and topology detection of a reconfigurable modular robot
Author :
Krupke, Dennis ; Noeske, Martin ; Wasserfall, Florens ; Jianwei Zhang
Author_Institution :
Dept. of Inf., Univ. of Hamburg, Hamburg, Germany
Abstract :
This paper describes a method to generate locomotion of a modular reconfigurable robot in chainlike configuration based on its topology and orientation. Combined with results from physics simulation efficient locomotion patterns, using optimized control parameters, can be applied to the robot. The resulting locomotion depends highly on the properties of the current configuration of the robot´s body and its orientation.
Keywords :
mobile robots; motion control; chainlike configuration; control parameters; reconfigurable modular robot; robot orientation; robot topology detection; smart locomotion generation; Generators; Hardware; Robot kinematics; Robot sensing systems; Robustness; Topology;
Conference_Titel :
Multisensor Fusion and Information Integration for Intelligent Systems (MFI), 2014 International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-6731-5
DOI :
10.1109/MFI.2014.6997713
