3d Reconfiguration Using Graph Grammars for Modular Robotics
نویسنده
چکیده
ACKNOWLEDGEMENTS I want to thank my adviser, Dr. Magnus Egerstedt, who spurred my interest in graph grammars and modular robotics through his course on networked control. His feedback and guidance throughout my thesis research were invaluable. I also want to thank my family for their continuous support and encouragement in my pursuit of my Master's degree.
منابع مشابه
Self-Reconfiguration Using Graph Grammars for Modular Robotics
In this paper, we apply graph grammars to self-reconfigurable modular robots and present a method to reconfigure arbitrary initial configurations into prespecified target configurations thus connecting the motions of modules to formal assembly rules. We present an approach for centralized reconfiguration planning and decentralized, rule-based reconfiguration execution for three-dimensional modu...
متن کاملSolutions for 3-D Self-reconfiguration in a Modular Robotic System: Implementation and Motion Planning
In this manuscript, we discuss new solutions for mechanical design and motion planning for a class of three-dimensional modular self-reconfigurable robotic system, namely I-Cubes. This system is a bipartite collection of active links that provide motions for self-reconfiguration, and cubes acting as connection points. The links are three degree of freedom manipulators that can attach to and det...
متن کاملGraph-based optimal reconfiguration planning for self-reconfigurable robots
The goal of optimal reconfiguration planning (ORP) is to find a shortest reconfiguration sequence to transform a modular and reconfigurable robot from an arbitrary configuration into another. This paper investigates this challenging problem for chain-typed robots based on graph representations and presents a series of theoretical results: (1) A formal proof that this is a NP-complete problem, (...
متن کاملRoombots—Modular Robots for Adaptive Furniture
We aim at merging technologies from Information Technology, Roomware, and Robotics in order to design adaptive and intelligent furniture. This paper presents the framework for modular robots, called Roombots, as future building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection and disconnection of modules and rotations of the degrees of ...
متن کاملHexaMob - A Hybrid Modular Robotic Design for Implementing Biomimetic Structures
Modular robots are capable of forming primitive shapes such as lattice and chain structures with the additional flexibility of distributed sensing. The biomimetic structures developed using such modular units provides ease of replacement and reconfiguration in co-ordinated structures, transportation etc. in real life scenarios. Though the research in the employment of modular robotic units in f...
متن کامل