DocumentCode
414068
Title
Analysis of self-reconfigurable modular systems: a design proposal for multi-modes locomotion
Author
Brener, Nicolas ; BenAmar, Faïz ; Bidaud, Philippe
Author_Institution
Laboratoire de Robotique de Paris, Universite Pierre et Marie Curie Paris VI, France
Volume
1
fYear
2004
fDate
26 April-1 May 2004
Firstpage
996
Abstract
This work presents some general considerations on self-reconfigurable robots design, and proposes an original design of mechatronic modules. Geometrical and kinematical features of these modules, offer the ability to be used as well as wheels to produce rolling motion, and as joints for building kinematic chains as legs, arms or snakes.
Keywords
control system synthesis; mechatronics; mobile robots; robot kinematics; self-adjusting systems; kinematic chains; mechatronic modules; multimodes locomotion; rolling motion; self-reconfigurable robots design; Assembly systems; Buildings; Mechatronics; Mobile robots; Orbital robotics; Robotic assembly; Robotics and automation; Service robots; Space stations; Topology;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1307280
Filename
1307280
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