Abstract
Addresses motion planning of a homogeneous modular robotic system. The modules have self-reconfiguration capability so that a group of the modules can construct various robotic structures. Motion planning for self-reconfiguration is a kind of computationally difficult problem because of many combinatorial possibilities of modular configuration against the restricted degrees of freedom of the module; only two rotation axes per module. We show a motion planning method for a class of a multi-module structure, based on global planning and local motion scheme selection that is effective for solving the complicated planning problem. The fundamental motion is also demonstrated through hardware experiments.
Published Version
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