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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Bibliographic Details
Published in:IEEE robotics and automation letters Vol. 9; no. 3; pp. 2216 - 2223
Main Authors: Odem, Shlomo, Medina, Oded
Format: Journal Article
Language:English
Published: Piscataway IEEE 01.03.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
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
ISSN:2377-3766, 2377-3766
Online Access:Get full text
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Summary: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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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2024.3355756