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.
|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||2001 IEEE/RSJ International Conference on Intelligent Robots and Systems|
|Period||01/10/29 → 01/11/3|