Title :
Analysis of self-reconfigurable modular systems: a design proposal for multi-modes locomotion
Author :
Brener, Nicolas ; BenAmar, Faïz ; Bidaud, Philippe
Author_Institution :
Laboratoire de Robotique de Paris, Universite Pierre et Marie Curie Paris VI, France
fDate :
26 April-1 May 2004
Abstract :
This work presents some general considerations on self-reconfigurable robots design, and proposes an original design of mechatronic modules. Geometrical and kinematical features of these modules, offer the ability to be used as well as wheels to produce rolling motion, and as joints for building kinematic chains as legs, arms or snakes.
Keywords :
control system synthesis; mechatronics; mobile robots; robot kinematics; self-adjusting systems; kinematic chains; mechatronic modules; multimodes locomotion; rolling motion; self-reconfigurable robots design; Assembly systems; Buildings; Mechatronics; Mobile robots; Orbital robotics; Robotic assembly; Robotics and automation; Service robots; Space stations; Topology;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307280
