Abstract
This paper addresses motion planning of a homogeneous modular robotic system. The modules have self-reconfiguration capability so that a group of the modules can construct a robotic structure generating dynamic motion. Motion planning for self-reconfiguration is not straightforward because the modular structure allows many combinatorial configurations, and also the proposed module has only two degrees of freedom. We will show a motion planning method for a particular class of multi-module structure, based on global planning and local motion scheme selection. The fundamental module motion will also be demonstrated through hardware experiments.KeywordsShape Memory AlloyMotion PlanningAtomic MotionMode ConversionMotion SchemeThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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