Abstract
This paper addresses motion planning of a homogeneous modular robotic system. The modules have self-reconfiguration capability so that a group of the modules can construct a robotic structure generating dynamic motion. Motion planning for self-reconfiguration is not straightforward because the modular structure allows many combinatorial configurations, and also the proposed module has only two degrees of freedom. We will show a motion planning method for a particular class of multi-module structure, based on global planning and local motion scheme selection. The fundamental module motion will also be demonstrated through hardware experiments.
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Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H., Kokaji, S. (2001). Motion Planning for a Self-Reconfigurable Modular Robot. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_39
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DOI: https://doi.org/10.1007/3-540-45118-8_39
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