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Article
Solutions for 3-D Self-reconfiguration in a Modular Robotic System: Implementation and Motion Planning
Institute for Software Research
  • Cem Ünsal, Carnegie Mellon University
  • Pradeep Khosla, Carnegie Mellon University
Date of Original Version
1-1-2000
Type
Conference Proceeding
Abstract or Description
In this manuscript, we discuss new solutions for mechanical design and motion planning for a class of three-dimensional modular self-reconfigurable robotic system, namely I-Cubes. This system is a bipartite collection of active links that provide motions for self-reconfiguration, and cubes acting as connection points. The links are three degree of freedom manipulators that can attach to and detach from the cube faces. The cubes can be positioned and oriented using the links. These capabilities enable the system to change its shape and perform locomotion tasks over difficult terrain. This paper describes the scaled down version of the system previously described in [1] and details the new design and manufacturing approaches. Initially designed algorithms for motion planning of I-Cubes are improved to provide better results. Results of our tests are given and issues related to motion planning are discussed. The user interfaces designed for the control of the system and algorithm evaluation is also described.
Citation Information
Cem Ünsal and Pradeep Khosla. "Solutions for 3-D Self-reconfiguration in a Modular Robotic System: Implementation and Motion Planning" (2000)
Available at: http://works.bepress.com/pradeep_khosla/45/