DocumentCode :
3128689
Title :
Graph isomorphism testing method in a self-recognition Velcro strap modular robot
Author :
Shiu, Ming-Chiuan ; Fu, Li-Chen ; Chia, Yen-Jui
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan
fYear :
2010
fDate :
15-17 June 2010
Firstpage :
222
Lastpage :
227
Abstract :
In this paper, we use a recognition method for a self-recognition robot aiming to recognize potential isomorphism between two configuration graphs of the robot. A self-recognition modular robot is formed by a set of robotic modules. This self-recognition modular robot is able to change its shape by changing the way in which these multiple modules cooperate so as to conform to different working environments. In general, recognizing configuration isomorphism during the reconfiguration process is a significant challenge. This paper presents an isomorphism testing algorithm to be applied to configuration graphs to deal with the recognition problem. A byproduct of the algorithm is to allow the robot to identify configurations other than the present one sharing the same underlying graph structure. Such solutions may lead to useful results for devising feasible control in subsequent reconfiguration process. Simulation results are provided to validate the method application, and its advantages are also discussed. Furthermore, some experimental results are demonstrated to show the effectiveness of the Velcro strap modular robot with satisfactory performances.
Keywords :
graph theory; robots; self-adjusting systems; configuration graph; formation control; graph isomorphism testing; graph structure; reconfiguration process; robotic module; self-recognition Velcro strap modular robot; working environment; Automatic testing; Centralized control; Computer science; Earthquakes; Linear algebra; Motion planning; Process planning; Robot control; Robot sensing systems; Shape; formation control; isomorpfism; modular robot; self-recognition robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2010 the 5th IEEE Conference on
Conference_Location :
Taichung
Print_ISBN :
978-1-4244-5045-9
Electronic_ISBN :
978-1-4244-5046-6
Type :
conf
DOI :
10.1109/ICIEA.2010.5516792
Filename :
5516792
Link To Document :
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