Get 20M+ Full-Text Papers For Less Than $1.50/day. Start a 14-Day Trial for You or Your Team.

Learn More →

Optimal self assembly of modular manipulators with active and passive modules

Optimal self assembly of modular manipulators with active and passive modules In this paper, we develop self-assembling robot systems composed of active modular robots and passive bars. The target structure is modeled as a dynamic graph. We present two provably correct algorithms for creating the structure. A decentralized optimal algorithm for the navigation of multiple modular robots on a partial truss structure is used to guide the robots to their location on the target structure. A decentralized algorithm for scheduling the transportation and placement of truss elements is used to coordinate the creation of the target structure. Both algorithms rely on locally optimal matching. The truss self-assembly algorithm has quadratic competitive ratio for static as well as dynamic graph representation. We show simulation results and results for experiments with two 3DOF robots and passive bars that can create and control a 6DOF manipulation. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

Optimal self assembly of modular manipulators with active and passive modules

Autonomous Robots , Volume 31 (3) – May 27, 2011

Loading next page...
 
/lp/springer-journals/optimal-self-assembly-of-modular-manipulators-with-active-and-passive-U0ZZp9urLU

References (97)

Publisher
Springer Journals
Copyright
Copyright © 2011 by Springer Science+Business Media, LLC
Subject
Engineering; Control, Robotics, Mechatronics; Robotics and Automation; Computer Imaging, Vision, Pattern Recognition and Graphics; Artificial Intelligence (incl. Robotics)
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1007/s10514-011-9236-1
Publisher site
See Article on Publisher Site

Abstract

In this paper, we develop self-assembling robot systems composed of active modular robots and passive bars. The target structure is modeled as a dynamic graph. We present two provably correct algorithms for creating the structure. A decentralized optimal algorithm for the navigation of multiple modular robots on a partial truss structure is used to guide the robots to their location on the target structure. A decentralized algorithm for scheduling the transportation and placement of truss elements is used to coordinate the creation of the target structure. Both algorithms rely on locally optimal matching. The truss self-assembly algorithm has quadratic competitive ratio for static as well as dynamic graph representation. We show simulation results and results for experiments with two 3DOF robots and passive bars that can create and control a 6DOF manipulation.

Journal

Autonomous RobotsSpringer Journals

Published: May 27, 2011

There are no references for this article.