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Morphogenetic Self-Reconfiguration of Modular Robots
2011It is still a challenging problem to self-reconfigure modular robots to different morphologies to adapt to dynamic environments. To tackle this problem, a new computational framework inspired from biological morphogenesis is suggested in this chapter. First, we introduce two reconfigurable modular robots, Cross-Cube and Cross-Ball, which are developed ...
Meng, Yan +3 more
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An efficient algorithm for self-reconfiguration planning in a modular robot
2010 IEEE International Conference on Robotics and Automation, 2010An efficient planning algorithm for the hexagonal metamorphic self-reconfiguring system (SRS) is presented. Empirically, the algorithm achieves an time complexity of O(n) averaged over random problem instances. The planning algorithm is capable of solving approximately 97% of planning tasks in the general state space of configurations containing less ...
Tom Larkworthy, Subramanian Ramamoorthy
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Analysing the Reliability of a Self-reconfigurable Modular Robotic System
2012In this paper, the reliability of a collective robotic system is analysed using two different techniques from the field of reliability engineering. The techniques, Failure Mode and Effect Analysis (FMEA) and Fault Tree Analysis (FTA), are used to analyse and compare two variants of a previously developed ‘autonomous morphogenesis’ controller.
Murray L. +4 more
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Self-Reconfiguration Using Graph Grammars for Modular Robotics
IFAC Proceedings Volumes, 2012Abstract 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.
Daniel Pickem, Magnus Egerstedt
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Self-reconfigurable modular robot - experiments on reconfiguration and locomotion
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), 2002We have proposed a self-reconfigurable robotic module, which has a very simple structure. The system is capable of not only building a static structure, but also generating a dynamic robotic motion. We have also developed a simulator for the motion planning.
Akiya Kamimura +5 more
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Evaluating efficiency of self-reconfiguration in a class of modular robots
Journal of Robotic Systems, 1996Summary: We examine the problem of dynamic self-reconfiguration of a class of modular robotic systems referred to as metamorphic systems. A metamorphic robotic system is a collection of mechatronic modules, each of which has the ability to connect, disconnect, and climb over adjacent modules.
Gregory S. Chirikjian +2 more
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Distributed replication algorithms for self-reconfiguring modular robots
2002Self-reconfiguring modular robots have the ability to reform themselves into a wide variety of different shapes to accomplish their tasks. In addition, a group of self-reconfiguring modules can divide up into several smaller groups to perform operations (such as exploration) in parallel.
Zack Butler 0001 +2 more
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Self-reconfiguration planning for modular robots
2012The key feature of modular self-reconfigurable robots is their ability to deliberately change shape by rearranging the connectivity of their modules, so as to adapt to dynamic environments, perform new tasks and recover from damages.
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Implementing Flexible Parallelism for Modular Self-reconfigurable Robots
2008Modular self-reconfigurable robots are drawing increasing interest due to their nature as a versatile, resilient and potentially cost-effective tool. Programming modular self-reconfigurable robots is however complicated by the need for closely coordinating the actions of each module with those of its neighbors.
Bordignon, Mirko +2 more
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Task-Driven Evolution of Modular Self-reconfigurable Robots
2014In future space missions, versatile, robust, autonomous and adaptive robotic systems will be required to perform complex tasks. This can be realized using modular robots with the ability to reconfigure to various structures, which allows them to adapt to the environment as well as to a given task.
Vojtech Vonásek +5 more
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