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Content Provider | IEEE Xplore Digital Library |
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Author | Chih-Han Yu Willems, F.-X. Ingber, D. Nagpal, R. |
Copyright Year | 2007 |
Description | Author affiliation: Harvard Univ., Cambridge (Chih-Han Yu; Willems, F.-X.) |
Abstract | Modular robots have the potential to achieve a wide range of applications by reconfiguring their shapes to perform different functions. This requires robust and scalable control algorithms that can form a wide range of user-specified shapes, including shapes that adapt to the environment. Here we present a decentralized algorithm for self-organizing of environmentally-adaptive shapes. We apply it to a chain-style modular robot, configured to form a flexible sheet structure. We show that the proposed algorithm is capable of achieving a wide class of environmentally-adaptive shapes, and the module control is simple, scalable, robust and provably correct. The algorithm is also self-maintaining: the shape automatically adapts if the environment changes. Finally, we present several applications which can be achieved within this framework via robot prototypes and simulations, such as a self-balancing table. In our experiments, we demonstrate the algorithm is highly responsive and robust in the face of real-world actuation and sensing noise. |
Starting Page | 2353 |
Ending Page | 2360 |
File Size | 1344003 |
Page Count | 8 |
File Format | |
ISBN | 9781424409112 |
DOI | 10.1109/IROS.2007.4399491 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2007-10-29 |
Publisher Place | USA |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Robot kinematics Robot sensing systems Shape control USA Councils Robust control Working environment noise Noise robustness Intelligent robots Medical robotics Convergence |
Content Type | Text |
Resource Type | Article |
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