DocumentCode
414141
Title
Self-reconfigurable robots topodynamic
Author
Saidani, Samir
Author_Institution
Laboratoire GREYC, Universite de Caen, France
Volume
3
fYear
2004
fDate
26 April-1 May 2004
Firstpage
2883
Abstract
Modules connected to each other form a network. So, a modular robot is a module network. In the case of reconfigurable robots, the topology of this network evolves. We propose to ground the study of self-reconfigurable robots in a framework inspired by graph theory and cellular automata. We separate topological aspects from metrical ones, by defining the notion of graph topodynamic, and we provide a distributed algorithm which transforms a quadruped robot into a chain.
Keywords
cellular automata; graph theory; legged locomotion; self-adjusting systems; cellular automata; graph theory; modular robot; module network; quadruped robot; self-reconfigurable robots topodynamic; Automatic control; Distributed algorithms; Dynamic programming; Graph theory; Lattices; Network topology; Orbital robotics; Robotics and automation; Robots; Shape control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1307498
Filename
1307498
Link To Document