&lt;title&gt;Connectivity planning for closed-chain reconfiguration&lt;/title&gt;

Yim, Mark; Goldberg, David; Casal, A.

doi:10.1117/12.403738

Cited by 27 publications

(15 citation statements)

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“…The modules and their interconnections can be represented by a graph for the self-reconfigurable robots in which nodes and edges are the modules and links respectively [46] . Some researchers had successfully modeled modular robots by graph in the configuration's representation [6,26,27,29] . In the graphic representation of self-reconfigurable modular robots, their relationship can be seen clearly with corresponding nomenclatures in the middle column of Table 1.…”

Section: Related Work In Graph/network-based Modelingmentioning

confidence: 99%

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Network-based reconfiguration routes for a self-reconfigurable robot

Liu

Wang

et al. 2008

Sci. China Ser. F-Inf. Sci.

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This paper presents a network-based analysis approach for the reconfiguration problem of a self-reconfigurable robot. The self-reconfigurable modular robot named "AMOEBA-I" has nine kinds of non-isomorphic configurations that consist of a configuration network. Each configuration of the robot is defined to be a node in the weighted and directed configuration network. The transformation from one configuration to another is represented by a directed path with nonnegative weight. Graph theory is applied in the reconfiguration analysis, where reconfiguration route, reconfigurable matrix and route matrix are defined according to the topological information of these configurations. Algorithms in graph theory have been used in enumerating the available reconfiguration routes and deciding the best reconfiguration route. Numerical analysis and experimental simulation results prove the validity of the approach proposed in this paper. And it is potentially suitable for other self-reconfigurable robots' configuration control and reconfiguration planning.

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Section: Related Work In Graph/network-based Modelingmentioning

confidence: 99%

“…Some researchers had successfully modeled modular robots by graph in configuration representation and even enumeration [18,[26][27][28][29] . We have primarily proposed a network-based technique to find the center configuration of a reconfigurable robot [17] .…”

Section: Introductionmentioning

confidence: 99%

Network-based reconfiguration routes for a self-reconfigurable robot

Liu

Wang

et al. 2008

Sci. China Ser. F-Inf. Sci.

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“…Some modular systems are manually reconfigurable, [3], [4] and others are self-reconfigurable [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21]. Some properties that all of these systems share is the ability to connect and disconnect from modules with a set of mating connectors.…”

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confidence: 99%

Connecting and disconnecting for chain self-reconfiguration with PolyBot

Yim

Zhang

Roufas

et al. 2002

IEEE/ASME Trans. Mechatron.

172

111

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Abstract-Chain modular robots form systems with many degrees of freedom which are capable of being reconfigured to form arbitrary chain-based topologies. This reconfiguration requires the detaching of modules from one point in the system and re-attaching at another. The internal errors in the system (especially with large numbers of modules) are such that accurate movement of chain ends, required for the attaching of modules, can be extremely difficult. A three phase docking process is described that utilizes both openand closed-loop techniques.This process has been shown to work with an early version. Issues raised during this testing have been addressed in a later version. Discussion of these issues, their solutions and preliminary results of the testing the latest version are given.

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“…Casal has shown self-reconfiguration of chain systems using a probabilistic roadmap planner [2]. In that work, the purely kinematic collision-free motions of these arms were planned and verified in a gravity-free, friction-free simulation.…”

Section: Introductionmentioning

confidence: 99%

Reconfiguration for Modular Robots Using Kinodynamic Motion Planning

̧ucan

Kruse

Yim

et al. 2008

ASME 2008 Dynamic Systems and Control Conference, Parts a and B

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This paper presents computational and experimental evidence that it is possible to plan and execute dynamic motions that involve chain reconfiguration for modular reconfigurable robots in the presence of obstacles. At the heart of the approach is the use of a sampling-based motion planner that is tightly integrated with a physics-based dynamic simulator. To evaluate the method, the planner is used to compute motions for a chain robot constructed from CKbot modules to perform a reconfiguration, attaching more modules and continuing a dynamic motion while avoiding obstacles. These motions are then executed on hardware and compared with the ones predicted by the planner. INTRODUCTIONWhen modular systems reconfigure themselves, their motions have been largely assumed to be quasi-static. Past work often focuses on the problem of finding attach/detach sequences that transform a robot from a given configuration to a goal configuration.Chain reconfiguration involves chains of modules which form articulated arms and have been demonstrated in [1] and references therein. The reconfiguration is typically not very robust.When a chain style modular robot performs a chain reconfiguration, it typically must avoid self-collision while using arms with potentially many modules (high DOF). Casal has shown self-reconfiguration of chain systems using a probabilistic roadmap planner [2]. In that work, the purely kinematic collision-free motions of these arms were planned and verified in a gravity-free, friction-free simulation.

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<title>Connectivity planning for closed-chain reconfiguration</title>

Cited by 27 publications

References 0 publications

Network-based reconfiguration routes for a self-reconfigurable robot

Network-based reconfiguration routes for a self-reconfigurable robot

Connecting and disconnecting for chain self-reconfiguration with PolyBot

Reconfiguration for Modular Robots Using Kinodynamic Motion Planning

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