Kinematics and Force Optimization for Efficient Self-Reconfiguration of Chain-Type Modular Robots
Keyword(s):
The problem of self-reconfiguration planning for chain-type unit-modular robots is a complex one, with many issues yet to be successfully addressed. This paper describes an approach to several sub-problems associated with self-reconfiguration, namely kinematic modeling and analysis, including kinematic constraint satisfaction, and load analysis and redistribution. These issues are addressed in a unified framework whose primary objective is minimization of the time and mechanical energy expended during reconfiguration. Computer simulation efforts are described and results presented.
2001 ◽
Vol 124
(1)
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pp. 119-125
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2019 ◽
Vol 234
(1)
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pp. 263-272
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2008 ◽
Vol 56
(1)
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pp. 90-101
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Keyword(s):