Self-recon gurable Robots for Navigation and Manipulation
نویسندگان
چکیده
Self-reconngurable robots consist of a set of one or more identical autonomous modules that can adapt their shape and function to tasks. We describe a module that can function as a climbing robot, a manipula-tor, or a leg in a multi-legged walker. This module can make autonomous transitions between these states. We present the control algorithms that enable our robot to be a versatile navigator and manipulator and report on our experimental results.
منابع مشابه
Design of a Modular Self-Recon£gurable Robot
In this paper we examine the development of modular self-recon£gurable robots. A survey of existing modular robots is given. Some limitations of homogeneous designs and connection mechanisms are discussed. Therefore, we propose a heterogeneous self-recon£gurable robot with genderless, fail-safe connecting mechanisms. We initially design three basic types (joint, power and special units) of module.
متن کاملRapid response manufacturing through a rapidly recon"gurable robotic workcell
This article describes the development of a component-based technology robot workcell that can be rapidly con"gured to perform a speci"c manufacturing task. The workcell is conceived with standard and inter-operable components including actuator modules, rigid link connectors and tools that can be assembled into robots with arbitrary geometry and degrees of freedom. The recon"gurable `plug-and-...
متن کاملNetworking Recon gurable Smart Sensors
The advances in sensing devices and integrated circuit technology have allowed for the development of easily \recon gurable smart sensor" products. Primarily utilizing commercial o -the-shelf (COTS) components, we have developed recon gurable smart sensors, consisting of a microprocessor, GPS receiver, RF transceiver, and a sensor. The standard serial control interface allows for ease of interc...
متن کاملEvolvable Reactive Execution System using Recon gurable Hardware: a Robot Navigation System Case Study
Recently there has been great interest in the design and study of evolvable systems in order to control the behavior of physically embedded systems. Due to the complexity of their architecture and their interaction with the environment, a Model-based Autonomous System approach was proposed by Williams to integrate a priori knowledge and reasoning methods of di erent kinds (Williams & Nayak 1996...
متن کاملMultiagent Control of Self-reconngurable Robots
We demonstrate how multiagent systems provide useful control techniques for modular self recon gurable metamorphic robots Such robots consist of many modules that can move relative to each other thereby changing the overall shape of the robot to suit di erent tasks Multiagent control is particularly well suited for tasks involving uncertain and changing environments We illustrate this approach ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 1997