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Proceedings Paper

Distributed control and computation in a parallel modular robotic system
Author(s): Woo Ho Lee; Arthur C. Sanderson
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Paper Abstract

New generations of modular and reconfigurable robotic systems with many degrees of freedom can be transformed to achieve different functions, modes of manipulation, and means of mobility resulting in efficient multifunctional systems which adapt to complex environments. The design of modular distributed algorithms and architectures for control of these systems is particularly challenging since kinematic and dynamic performance must be maintained throughout a range of alternative physical reconfigurations. The 'Tetrobot' is a prototype modular system using parallel, variable geometry truss-like mechanisms which can be reconfigured to create moving platforms, walking machines, manipulator arms, a pipe crawler and other devices. Modular algorithms for distributed control and dynamic redundancy resolution of these system will be discussed, and the principles of distributed control for modular systems generalize beyond these specific mechanisms. The resulting Tetrobot system has a range of interesting applications including space robotics, construction, mining, medical, undersea, and flexible manufacturing.

Paper Details

Date Published: 26 August 1999
PDF: 10 pages
Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999); doi: 10.1117/12.360340
Show Author Affiliations
Woo Ho Lee, Rensselaer Polytechnic Institute (United States)
Arthur C. Sanderson, Rensselaer Polytechnic Institute (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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