Title :
Simple components for a reconfigurable modular robotic system
Author :
Moses, Matthew S. ; Chirikjian, Gregory S.
Author_Institution :
Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA
Abstract :
A set of modular components is presented for use in reconfigurable robots. The proposed architecture for large systems built with these components is a number of active mobile devices operating within a larger, passive structural grid. The mobile devices and grid are constructed from the same class of heterogeneous modular components. The components themselves are designed for low-cost simple fabrication methods. Results from some experimental demonstrations are presented.
Keywords :
robots; active mobile devices; heterogeneous modular components; low cost simple fabrication methods; passive structural grid; proposed architecture large systems; reconfigurable modular robotic system; set modular components; Assembly systems; Design engineering; Intelligent robots; Lattices; Mobile robots; Reluctance motors; Robot kinematics; Robot sensing systems; Robotic assembly; USA Councils;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354344
