In the robotic applications, wheel-legged robot provides many advantages such as lightweight, superior performance, low energy consumption and wide development prospects. Especially, in some emergent cases, it has ability to move flexibly, pass obstacles work both outdoor indoor environment. this paper, a novel design of platform for investigation is presented. Firstly, principle diagram undera...

The inverse kinematics solutions of a reconfigurable robot system built upon a collection of standardized components is difficult to obtain because of its varying configurations. This article addresses the formulation of a generic numerical inverse kinematics model and automatic generation of the model for arbitrary robot geometry including serial and tree-typed geometries. Both revolute and pr...

Complex tasks are usually described as high-level goals, leaving out the details on how to achieve them. However, to control a robot, details must be provided. Having the robot move itself to and through an unknown, and possibly narrow, doorway is an example of such a task. We illustrate the difficulty of such a task using actual data from a real robot. We show how the transformation from high-...

This paper presents an approach for a reconfigurable multi-modal mobile robot operating in an indoor environment, based on a probabilistic framework. The modalities are composed of a path planning method, a reactive motion strategy, and an emergency stop. While the mobile robot is achieving its mission to reach its goal, a Hidden Markov Model is used to estimate the most appropriate mode on-lin...

This paper presents a novel walking hybrid-kinematics robot that can be reconfigured to have three, five, and six degrees of freedom (DOFs) for adsorption machining large structures. A symmetric 3PRPR or 3PRRR parallel mechanism with three translational (3T) DOFs is used perform three-axis tasks. Three attachment pads connected passive spherical joints are attach the surface structure. Two rota...

This paper focuses on the well-known problem in behavioral robotics – “what to do next”. The problem addressed here lies in the selection of one activity to be executed from multiple regulative, homeostatic and developmental processes running onboard a reconfigurable multi-robot organism. We consider adaptive hardware and software frameworks and argue the non-triviality of action selection for ...

A reconfigurable parallel manipulator system consists of an inventory of standard interchangeable actuator modules, passive joint modules, and customizable links and connectors. Due to the interchangeability and modularity, a parallel manipulator constructed in this manner can have different structures and degrees of freedom (DOF). This article presents a two stage design methodology, from stru...

Telecubes is a cubic module that has six prismatic degrees of freedom whose sides can expand more than twice its original length and has the ability to magnetically (de)attach to other modules. Many of these modules can be connected together to form a modular self-reconfigurable robot. The paper presents the intended functions, discusses the physical requirements of the modules and describes tw...