Crystalline robots: Self-reconfiguration with compressible unit modules

被引：237

作者：

Rus, D ^{[1
]}

Vona, M ^{[1
]}

机构：

[1] Dartmouth Coll, Dept Comp Sci, Hanover, NH 03755 USA

来源：

AUTONOMOUS ROBOTS | 2001年 / 10卷 / 01期

基金：

美国国家科学基金会;

关键词：

self-reconfiguration robots; modular robots; reconfiguration planning;

D O I：

10.1023/A:1026504804984

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We discuss a robotic system composed of Crystalline modules. Crystalline modules can aggregate together to form distributed robot systems. Crystalline modules can move relative to each other by expanding and contracting. This actuation mechanism permits automated shape metamorphosis. We describe the Crystalline module concept and show the basic motions that enable a Crystalline robot system to self-reconfigure. We present an algorithm for general self-reconfiguration and describe simulation experiments.

引用

页码：107 / 124

页数：18

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