Distributed Control of the Center of Mass of a Modular Robot

We present a distributed controller for the center of mass of a modular robot. This is useful for locomotion of a modular robot over uneven and unknown terrain. By controlling the center of mass, a robot can prevent itself from falling over. We present a distributed and decentralized algorithm that...

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Veröffentlicht in:2006 IEEE/RSJ International Conference on Intelligent Robots and Systems S. 4710 - 4715
Hauptverfasser: Moll, Mark, Will, Peter, Krivokon, Maks, Shen, Wei-min
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 01.10.2006
Schlagworte:
Computational modeling
Connectors
Distributed computing
Distributed control
Hardware
Intelligent robots
Kinematics
USA Councils
Velocity measurement
Weight control
ISBN:9781424402588, 1424402581
ISSN:2153-0858
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Beschreibung
Zusammenfassung:We present a distributed controller for the center of mass of a modular robot. This is useful for locomotion of a modular robot over uneven and unknown terrain. By controlling the center of mass, a robot can prevent itself from falling over. We present a distributed and decentralized algorithm that computes the mass properties of the robot. Additionally, each module also computes the mass properties of the modules that are directly or indirectly connected to each of its connectors. With this information, each module can independently steer the center of mass towards a desired position by adjusting its joint positions. We present simulation results that show the feasibility of the approach.
ISBN:9781424402588
1424402581
ISSN:2153-0858
DOI:10.1109/IROS.2006.282261