DocumentCode
320714
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
Volume
2
fYear
1997
fDate
7-11 Sep 1997
Firstpage
1081
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.1997.655144
Filename
655144
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