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International Journal of Advanced Robotic Systems, 2014 The most important feature of a Self-Reconfigurable Robot (SRR) is that it is reconfigurable and self-repairing. At the centre of these capabilities is autonomous docking. One difficulty for docking is the alignment between two robots. Current strategies
Yanhe Zhu, Hongzhe Jin
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Design and Implementation of a Modular Self-Reconfigurable Robot
International Journal of Advanced Robotic Systems, 2014 This paper presents the design and implementation of a new modular self-reconfigurable robot. The single module has three joints and can perform rectilinear motion, lateral shift, lateral rolling, and rotation. A flexible pin-hole-based docking mechanism
Guifang Qiao, Guangming Song
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IEEE Robotics & Automation Magazine, 2007
In this article, the concept of a cellular robot that is capable of reconfiguring itself is reviewed. This "self-reconfigurable (SR) robot" exemplifies a new trend in robotics, indeed, we can now build various kinds of SR robots with off-the-shelf technologies of processors, actuators, and sensors.
Satoshi Murata, Haruhisa Kurokawa
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In this article, the concept of a cellular robot that is capable of reconfiguring itself is reviewed. This "self-reconfigurable (SR) robot" exemplifies a new trend in robotics, indeed, we can now build various kinds of SR robots with off-the-shelf technologies of processors, actuators, and sensors.
Satoshi Murata, Haruhisa Kurokawa
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Communications of the ACM, 2002
Mimicking the adaptability of living biological cells, robot modules will reconfigure themselves toward a common purpose within the limits imposed by the local environment.
Daniela Rus +3 more
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Mimicking the adaptability of living biological cells, robot modules will reconfigure themselves toward a common purpose within the limits imposed by the local environment.
Daniela Rus +3 more
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Docking in self-reconfigurable robots
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), 2002Docking is a crucial action for self-reconfigurable robots because it supports almost all practical advantages of such robots. In addition to the classic docking challenges found in other applications, such as reliable dock/latch mechanics, effective guiding systems, and intelligent control protocols, docking in self-reconfigurable robots is also ...
Wei-Min Shen, Peter M. Will
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Stochastic self-reconfigurable cellular robotics
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004Implementations of self-reconfigurable robotics rearrange modules through a planned, deterministic reconfiguration path. Reconfiguration is achieved using active module locomotion or manipulation. Here we propose a form of self-reconfigurable robotics based on passive, stochastic self-organization.
Paul White, K. Kopanski, Hod Lipson
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Reconnectable joints for self-reconfigurable robots
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), 2002Self-reconfigurable robots are modular robots that can dynamically and intelligently reconfigure their shape and size to accomplish difficult missions. To build such robots, however, a number of technical challenges must be overcome. One critical problem is the design and implementation of the reconnectable joints (also called connectors), which allows
Behrokh Khoshnevis +3 more
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Distributed systems of self-reconfiguring robots
ACM SIGGRAPH 2002 conference abstracts and applications, 2002A robot designed for a single purpose can perform a specific task very well, but it may perform poorly on a different task, or in a different environment. This is acceptable if the environment is structured; however, if the task is in an unknown environment, then a robot with the ability to change shape to suit the environment and the required ...
Zack J. Butler +3 more
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Self-reconfigurable Robots with ATRON Modules
2005We developed a new robotic systems that can change morphology. The system is made of ATRON modules, which are individually simple, attach through physical connections, and perform 3D motions by collective actions. We produced 100 ATRON modules, and performed both simulation and real world experiments.
Lund, Henrik Hautop +2 more
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Bounds for self-reconfiguration of metamorphic robots
Proceedings of IEEE International Conference on Robotics and Automation, 2002A metamorphic robotic system is a collection of mechatronic modules, each of which has the ability to connect, disconnect, and climb over adjacent modules. A change in the macroscopic morphology results from the locomotion of each module over its neighbors.
Gregory S. Chirikjian, Amit Pamecha
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