Trajectory generation and steering optimization for self-assembly of a modular robotic system

Kevin C. Wolfe, Michael D.M. Kutzer, Mehran Armand, Gregory S. Chirikjian

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A problem associated with motion planning for the assembly of individual modules in a new self-reconfigurable modular robotic system is presented. Modules of the system are independently mobile and can be driven on flat surfaces in a similar fashion to the classic kinematic cart. This problem differs from most nonholonomic steering problems because of an added constraint on one of the internal states. The constraint properly aligns the docking mechanism, allowing modules to connect with one another along wheel surfaces. This paper presents an initial method for generating trajectories and control inputs that allow module assembly. It also provides an iterative method for locally optimizing a nominal control function using weighted perturbation functions, while preserving the final pose and internal states.

Original languageEnglish (US)
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages4996-5001
Number of pages6
DOIs
StatePublished - Aug 26 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period5/3/105/7/10

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Keywords

  • Modular robots
  • Nonholonomic motion planning
  • Self-assembly
  • Trajectory optimization

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Wolfe, K. C., Kutzer, M. D. M., Armand, M., & Chirikjian, G. S. (2010). Trajectory generation and steering optimization for self-assembly of a modular robotic system. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 4996-5001). [5509157] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2010.5509157