Abstract
This paper presents a miniaturized self-reconfigurable modular robotic system using shape memory alloy (SMA). The system is designed so that various shapes can be actively formed by a group of identical mechanical units. The unit realizes rotational motion by using an actuator mechanism composed of two SMA torsion coil springs which generate sufficient motion range and torque for reconfiguration. The fundamental functions of the system are tested by experiments. Applicability of the developed unit model to a 3-D self-reconfigurable system is also discussed.
| Original language | English |
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| Pages | 1579-1585 |
| Number of pages | 7 |
| Publication status | Published - 1999 |
| Event | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea Duration: 1999 Oct 17 → 1999 Oct 21 |
Conference
| Conference | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' |
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| City | Kyongju, South Korea |
| Period | 99/10/17 → 99/10/21 |