In this paper, we examine the problem of dynamic selfreconfiguration of a modular robotic system (frequently referred to as a self-reconfigurable or metamorphic system), to a formation aimed at reaching a specified target position as quickly as possible. We present a number of fast formations for both rectangular and hexagonal systems, and prove upper and lower bounds on the speed of locomotion...

Abstract. Biologically realistic computer simulation of vertebrate locomotion is an interesting and challenging problem with applications in computer graphics and robotics. One current approach simulates a relatively simple vertebrate, the lamprey, using recurrent neural networks for the spine and a physical model for the body. The model is realized as a system of di↵erential equations. The dra...

The intent of this paper is to show how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. An appropriate locomotion concept endowed with a controller minimizing slip improves the climbing performance, the accuracy of odometry and the signal/noise ratio of the onboard sensors. Sensor fusion involving an inertial measureme...

This is a survey of research issues for haptic and locomotion interfaces. A key issue is the workspace and dexterity of haptic devices. In the simulation of real environments, interactive geometric computations on complex models are a fundamental problem. Haptic rendering of forces of contact are increasingly based on measurements on real environments. Scientific visualization is another promis...