A self-reconfigurable modular robot (MTRAN) - Hardware and motion planning software

被引：0
作者：
Kamimura, A [1 ]
Yoshida, E [1 ]
Murata, S [1 ]
Kurokawa, H [1 ]
Tomita, K [1 ]
Kokaji, S [1 ]
机构：
[1] Natl Inst Adv Ind Sci & Technol, AIST, Tsukuba, Ibaraki 3058564, Japan
来源：
DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 5 | 2002年
关键词：
modular robot; self-reconfiguration; robotic motion generation; motion planning;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we present our latest modular robot "MTRAN" (Modular Transformer) and its motion planning algorithm based on a four-module block method. The developed module is composed of two semi-cylindrical parts connected by a link. Each part has three connecting surfaces where another module can be connected by magnetic force. Each module has only two degrees of freedom, but a group of modules can not only configure static 2-D or 3-D structures but also generate robotic motions. We realized several robotic motions and transformations by using several modules. Block motions prepared by a proposed motion planner are also verified by hardware experiments.
引用
收藏
页码：17 / 26
页数：10
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