Title :
A basis for self-reconfiguring robots using crystal modules
Author :
Rus, Daniela ; Vona, Marsette
Author_Institution :
Dept. of Comput. Sci., Dartmouth Coll., Hanover, NH, USA
Abstract :
We discuss a basis for creating self-reconfiguring robots and instantiate it for crystal modules. Crystalline robots consist of modules that can aggregate together to form distributed robot systems. Crystalline modules are actuated by expanding and contracting each unit. This actuation mechanism permits automated shape metamorphosis. We describe the crystalline module concept and its physical implementation. We prove that crystalline robots are general self-reconfiguring robots
Keywords :
robots; automated shape metamorphosis; crystal modules; distributed robot systems; self-reconfiguring robots; Aggregates; Computer science; Crystallization; Educational institutions; Legged locomotion; Motion planning; Muscles; Robot kinematics; Robot sensing systems; Shape;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.895295
