Abstract
A study was conducted to demonstrate a new self-reconfigurable robot system that was capable of building multiple structures from a simple and independently mobile unit. Modules in the system were mechanically homogeneous, with three identical docking mechanisms within a module. Each mechanical dock was driven by a high-torque actuator to enable movement of large segments within a multimodule structure and low-speed driving. The unique module geometry and the docking requirements produced a new variant of the classical model of a kinematic cart. The control of the nonholonomic system needed to account for the position and the orientation of the module in plane and for one of the two internal states.
Original language | English (US) |
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Pages (from-to) | 270-271 |
Number of pages | 2 |
Journal | Johns Hopkins APL Technical Digest (Applied Physics Laboratory) |
Volume | 28 |
Issue number | 3 |
State | Published - Mar 16 2010 |
ASJC Scopus subject areas
- General Engineering
- General Physics and Astronomy