A Self-Reconfiguration Algorithm for Sliding Triangular Modular Robots
Modular Self-Reconfigurable (MSR) robots are known for their adaptability and versatility. However, as the number of modules increases, the Self-Reconfiguration (SR) problem becomes more complex. This letter specifically addresses the SR problem in a 2D Sliding Triangular Modular Robot (STRIMOR). Ou...
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| Vydané v: | IEEE robotics and automation letters Ročník 9; číslo 3; s. 2216 - 2223 |
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| Hlavní autori: | , |
| Médium: | Journal Article |
| Jazyk: | English |
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Piscataway
IEEE
01.03.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
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| ISSN: | 2377-3766, 2377-3766 |
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| Abstract | Modular Self-Reconfigurable (MSR) robots are known for their adaptability and versatility. However, as the number of modules increases, the Self-Reconfiguration (SR) problem becomes more complex. This letter specifically addresses the SR problem in a 2D Sliding Triangular Modular Robot (STRIMOR). Our focus is on developing a mechanically simple design utilizing two module types. We also provide proof demonstrating the connectivity between any two horizontally-convex configurations. Furthermore, we propose an improved SR algorithm that eliminates the need to pass through a flat-n configuration during reconfiguration. This algorithm allows for efficient SR even in the presence of obstacles. To validate the effectiveness of our approach, we present a motion planning example featuring a STRIMOR with 1000 modules successfully navigating through a narrow gap. The contributions of this research enhance SR techniques for 2D sliding triangular modular robots, particularly those with a large number of modules. This advancement enables these robots to adapt and operate effectively in complex environments. |
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| AbstractList | Modular Self-Reconfigurable (MSR) robots are known for their adaptability and versatility. However, as the number of modules increases, the Self-Reconfiguration (SR) problem becomes more complex. This letter specifically addresses the SR problem in a 2D Sliding Triangular Modular Robot (STRIMOR). Our focus is on developing a mechanically simple design utilizing two module types. We also provide proof demonstrating the connectivity between any two horizontally-convex configurations. Furthermore, we propose an improved SR algorithm that eliminates the need to pass through a flat-n configuration during reconfiguration. This algorithm allows for efficient SR even in the presence of obstacles. To validate the effectiveness of our approach, we present a motion planning example featuring a STRIMOR with 1000 modules successfully navigating through a narrow gap. The contributions of this research enhance SR techniques for 2D sliding triangular modular robots, particularly those with a large number of modules. This advancement enables these robots to adapt and operate effectively in complex environments. |
| Author | Odem, Shlomo Medina, Oded |
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| SubjectTerms | Algorithms Cellular and modular robots Collision avoidance Complexity theory Configurations Lattices Mechanism design Modules motion and path planning Motion planning Path planning Reconfiguration Redundancy redundant robots Robot control Robots Shape measurement Sliding |
| Title | A Self-Reconfiguration Algorithm for Sliding Triangular Modular Robots |
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