Abstract
A distributed reconfiguration method is proposed for a 3-D reconfigurable machine, composed of many identical mechanical units. The method aims to enable the machine to transform itself into desired structure from an arbitrary initial configuration. The proposed method is implemented in such a way that each unit has identical software, so that any unit can play any role in the system. It is also featured by a stochastic relaxation process, which allows the system to converge to a given target structure by searching for a proper unit motion over many degrees of freedom. Furthermore, the method is extended for the structure to re-configure itself dynamically according to the environment. The effectiveness of the method is confirmed by computer simulations.
| Original language | English |
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| Pages | 852-859 |
| Number of pages | 8 |
| Publication status | Published - 1998 Dec 1 |
| Externally published | Yes |
| Event | Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can Duration: 1998 Oct 13 → 1998 Oct 17 |
Other
| Other | Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) |
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| City | Victoria, Can |
| Period | 98/10/13 → 98/10/17 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications