A new meta-module for efficient reconfiguration of hinged-units modular robots
Tipus de documentText en actes de congrés
EditorInstitute of Electrical and Electronics Engineers (IEEE)
Condicions d'accésAccés obert
We present a robust and compact meta-module for edge-hinged modular robot units such as M-TRAN, SuperBot, SMORES, UBot, PolyBot and CKBot, as well as for central-point-hinged ones such as Molecubes and Roombots. Thanks to the rotational degrees of freedom of these units, the novel meta-module is able to expand and contract, as to double/halve its length in each dimension. Moreover, for a large class of edge-hinged robots the proposed meta-module also performs the scrunch/relax and transfer operations required by any tunneling-based reconfiguration strategy, such as those designed for Crystalline and Telecube robots. These results make it possible to apply efficient geometric reconfiguration algorithms to this type of robots. We prove the size of this new meta-module to be optimal. Its robustness and performance substantially improve over previous results.
CitacióParada, I., Sacristán, V., Silveira, R.I. A new meta-module for efficient reconfiguration of hinged-units modular robots. A: IEEE International Conference on Robotics and Automation. "2016 IEEE International Conference on Robotics and Automation (ICRA 2016): Stockholm, Sweden: May 16th 21st, 2016: proceedings". Stockholm: Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 5197-5202.