TY - GEN
T1 - Docking experiments of a modular robot by visual feedback
AU - Murata, Satoshi
AU - Kakomura, Kiyoharu
AU - Kurokawa, Haruhisa
PY - 2006
Y1 - 2006
N2 - We have been developing a self-reconfigurable robot M-TRAN. In this paper, we focus on the docking of M-TRAN modules. In order to dock modules in separate configurations, we use a camera module, which is compatible to the M-TRAN system. Proposed docking is a combination of a simple visual feedback procedure and a special docking configuration to absorb positional errors. We verified reliability of the docking method by experiments.
AB - We have been developing a self-reconfigurable robot M-TRAN. In this paper, we focus on the docking of M-TRAN modules. In order to dock modules in separate configurations, we use a camera module, which is compatible to the M-TRAN system. Proposed docking is a combination of a simple visual feedback procedure and a special docking configuration to absorb positional errors. We verified reliability of the docking method by experiments.
KW - M-TRAN
KW - Modular robot
KW - Scalability
KW - Self-reconfiguration
KW - Visual feedback
UR - http://www.scopus.com/inward/record.url?scp=34250644321&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250644321&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.282545
DO - 10.1109/IROS.2006.282545
M3 - Conference contribution
AN - SCOPUS:34250644321
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 625
EP - 630
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -