Representing and Discovering the Configuration of Conro Robots
نویسندگان
چکیده
A Conro reconfigurable robot is formed by joining a 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 i f the master can m a p the particular configuration of the robot to one that it already knows how t o control. In this paper 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. T h e methodology used i s very general and can be applied easily t o other modular robots. Experimental results f o r Conro quadrupeds and snakes are presented.
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