A motion planning method for a self-reconfigurable modular robot

Eiichi Yoshida; Satoshi Murata; Akiya Kamimura; Kohji Tomita; Haruhisa Kurokawa; Shigeru Kokaji

A motion planning method for a self-reconfigurable modular robot

Eiichi Yoshida, Satoshi Murata, Akiya Kamimura, Kohji Tomita, Haruhisa Kurokawa, Shigeru Kokaji

ENG - Robotics

National Institute of Advanced Industrial Science and Technology

Research output: Contribution to conference › Paper › peer-review

51 Citations (Scopus)

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. Motion planning for self-reconfiguration is a kind of computationally difficult problem because of many combinatorial possibilities of modular configuration and the restricted degrees of freedom of the module; only two rotation axes per module. We will show a motion planning method for a class of multi-module structures. It is based on global planning and local motion scheme selection that is effective to solve the complicated planning problem.

Original language	English
Pages	590-597
Number of pages	8
Publication status	Published - 2001
Event	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States Duration: 2001 Oct 29 → 2001 Nov 3

Conference

Conference	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	Maui, HI
Period	01/10/29 → 01/11/3

Cite this

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AU - Murata, Satoshi

AU - Kamimura, Akiya

AU - Tomita, Kohji

AU - Kurokawa, Haruhisa

AU - Kokaji, Shigeru

PY - 2001

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AB - 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. Motion planning for self-reconfiguration is a kind of computationally difficult problem because of many combinatorial possibilities of modular configuration and the restricted degrees of freedom of the module; only two rotation axes per module. We will show a motion planning method for a class of multi-module structures. It is based on global planning and local motion scheme selection that is effective to solve the complicated planning problem.

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T2 - 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems

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A motion planning method for a self-reconfigurable modular robot

Abstract

Conference

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