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Proceedings Paper

Solutions for 3D self-reconfiguration in a modular robotic system: implementation and motion planning
Author(s): Cem Unsal; Pradeep K. Khosla
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Paper Abstract

In this manuscript, we discuss new solutions for mechanical design and motion planning for a class of 3D modular self- reconfigurable robotic system, namely I-Cubes. This system is a bipartite collection of active links that provide motions for self-reconfiguration, and cubes acting as connection points. The links are three degree of freedom manipulators that can attach to and detach from the cube faces. The cubes can be positioned and oriented using the links. These capabilities enable the system to change its shape and perform locomotion tasks over difficult terrain. This paper describes the scaled down version of the system previously described in and details the new design and manufacturing approaches. Initially designed algorithms for motion planning of I-Cubes are improved to provide better results. Results of our tests are given and issues related to motion planning are discussed. The user interfaces designed for the control of the system and algorithm evaluation is also described.

Paper Details

Date Published: 16 October 2000
PDF: 14 pages
Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); doi: 10.1117/12.403737
Show Author Affiliations
Cem Unsal, Carnegie Mellon Univ. (United States)
Pradeep K. Khosla, Carnegie Mellon Univ. (United States)

Published in SPIE Proceedings Vol. 4196:
Sensor Fusion and Decentralized Control in Robotic Systems III
Gerard T. McKee; Paul S. Schenker, Editor(s)

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