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)|
|Number of pages||2|
|Journal||Johns Hopkins APL Technical Digest (Applied Physics Laboratory)|
|State||Published - Mar 16 2010|
ASJC Scopus subject areas
- Physics and Astronomy(all)