Research on Automatic Locomotion Pattern Generation for Modular Robots
نویسندگان
چکیده
منابع مشابه
Automatic locomotion pattern generation for modular robots
Locomotion, one of the most basic robotic functions, has been widely studied for several types of robots. As for self-reconfigurable modular robots, there are two types of locomotion; one type is realized as a series of self-reconfiguration and the other is realized as a whole body motion such as walking and crawling. Even for the latter type of locomotion, designing control method is more diff...
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We address the problem of learning to locomote in modular robotic systems, i.e. systems made from multiple homogenous or heterogenous and highly autonomous modules being assembled into a bigger robotic structure, other than monolithic robots (such as humanoid robot systems or predefined quadruped robots). We are particulary interested in online learning of robust and adaptive locomotion for arb...
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Manual derivation of the dynamic model of a modular robot is almost impossible because it may have very different geometries and DOFS through module reconfiguration. This paper presents an algorithm to automatically generate the closed-form equation of motion of a modular robot from a kinematic graph based representation of the assembly configuration. We consider modular robots with the more ge...
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Reconfigurable Modular Robots are assemblies of autonomous robotic units, referred to as modules, joined together using connection mechanisms. By rearranging the connectivity of these modules it is possible to change the morphology of the modular robot to make it fit to different environmental circumstances. The locomotion control of reconfigurable modular robots is therefore characterized by a...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 2004
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.70.459