Abstract
Modular robotic system (MRS) consisting of several identical modules is able to adapt to situations by configuring to the morphology which best suits the environment. Utilizing this characteristic, this paper presents a self-configuration strategy for the M-Lattice MRS. Based on this strategy, the construction task under complex environment is converted to a self-configuration task accomplished by modular robots. Meta-module method is utilized to avoid system cracking. Meanwhile, a gradient greedy method in a virtual gravity field is selected to indicate the locomotion of meta-modules. Computational simulations demonstrate the feasibility and scalability of the proposed strategy.
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Acknowledgments
This work is partially supported by the National Natural Science Foundation of China (Grant No. 61473192, U1401240, 61075086) and National Basic Research Program of China (2014CB046302).
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Yang, Z., Fu, Z., Guan, E., Xu, J., Zheng, H. (2016). Meta-module Self-configuration Strategy for Modular Robotic System. In: Kubota, N., Kiguchi, K., Liu, H., Obo, T. (eds) Intelligent Robotics and Applications. ICIRA 2016. Lecture Notes in Computer Science(), vol 9834. Springer, Cham. https://doi.org/10.1007/978-3-319-43506-0_42
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DOI: https://doi.org/10.1007/978-3-319-43506-0_42
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