Title :
TETROBOT: a modular approach to parallel robotics
Author :
Hamlin, Gregory J. ; Sanderson, Arthur C.
Author_Institution :
Dept. of Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
fDate :
3/1/1997 12:00:00 AM
Abstract :
The TETROBOT is an actuated robotic structure which may be reassembled into many different configurations while still being controlled by the same hardware and software architecture. The TETROBOT system addresses the needs of application domains, such as space, undersea, mining, and construction, where adaptation to unstructured and changing environments and custom design for rapid implementation are required
Keywords :
mobile robots; redundancy; robot kinematics; TETROBOT; actuated robotic structure; modular approach; parallel robotics; robot reassembly; robot reconfiguration; Control systems; Fault tolerance; Hardware; Kinematics; Manipulator dynamics; Orbital robotics; Parallel robots; Robot sensing systems; Robotics and automation; Software architecture;
Journal_Title :
Robotics & Automation Magazine, IEEE
