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Proceedings Paper

I(CES)-cubes: a modular self-reconfigurable bipartite robotic system
Author(s): Cem Unsal; Han Kiliccote; Pradeep K. Khosla
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Paper Abstract

In this manuscript, we introduce I(CES)-Cubes, a class of 3D modular robotic system that is capable of reconfiguring itself in order to adapt to its environment. This is a bipartite system, i.e. a collection of (i) active elements capable of actuation, and (ii) passive elements acting as connectors between actuated elements. Active elements, called links, are 3-DOF manipulators that are capable of attaching/detaching themselves to/from the passive elements. The cubes can then be positioned and oriented using links, which are independent mechatronic elements. Self- reconfiguration property enables the system to performed locomotion tasks over difficult terrain. For example, the system would be capable of moving over obstacles and climbing stairs. These task are performed by positing and orienting cubes and links to form a 3D network with required shape and position. This paper describes the design of the passive and active elements, the attachment mechanics, and several reconfiguration scenarios. Specifics of the hardware implementation and result of experiments with current prototypes are also given.

Paper Details

Date Published: 26 August 1999
PDF: 12 pages
Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999); doi: 10.1117/12.360346
Show Author Affiliations
Cem Unsal, Carnegie Mellon Univ. (United States)
Han Kiliccote, Carnegie Mellon Univ. (United States)
Pradeep K. Khosla, Carnegie Mellon Univ. (United States)


Published in SPIE Proceedings Vol. 3839:
Sensor Fusion and Decentralized Control in Robotic Systems II
Gerard T. McKee; Paul S. Schenker, Editor(s)

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