Motion Control of a Self-Reconfigurable Modular Robot System

The self-reconfigurable modular robot system consists of many identical modules. By changing the connections among modules, the whole structure of the robot system can transform into arbitrary other structures. First, the basic configuration of the modules is analyzed with the eigenvector matrix. Se...

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Bibliographic Details
Published in2007 International Conference on Machine Learning and Cybernetics Vol. 4; pp. 1989 - 1993
Main Authors Yan-Qiong Fei, Xin Zhang, Jian-Feng Wan, Zhen-Xin Xia
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2007
Subjects
Control
Cybernetics
Eigenvector matrix
Lattices
Machine learning
Mobile robots
Motion
Motion control
Orbital robotics
Robot kinematics
Self-reconfigurable
Shape control
Solids
Topology
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ISBN1424409721
9781424409723
ISSN2160-133X
DOI10.1109/ICMLC.2007.4370473

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Summary:The self-reconfigurable modular robot system consists of many identical modules. By changing the connections among modules, the whole structure of the robot system can transform into arbitrary other structures. First, the basic configuration of the modules is analyzed with the eigenvector matrix. Second, the motion rules are proposed. Then, the motion control is described with the driving function and the adjacency matrix that is effective for solving the computation problem and optimizing the motion paths of the robot system during the self-reconfigurable process. Finally, a simulation is shown to prove that the analyses are effective.
ISBN:1424409721
9781424409723
ISSN:2160-133X
DOI:10.1109/ICMLC.2007.4370473