Reconfiguration planning for pivoting cube modular robots
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Rus_reconfiguration.pdf
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2.09 MB
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Author(s)
Bern, James
Sung, Cynthia Rueyi
Romanishin, John William
Rus, Daniela L.
Date Issued
May 2015
Journal
Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Sung, Cynthia, James Bern, John Romanishin, and Daniela Rus. “Reconfiguration Planning for Pivoting Cube Modular Robots.” 2015 IEEE International Conference on Robotics and Automation (ICRA) (May 2015).
Version
Author's final manuscript
Abstract
In this paper, we present algorithms for self-reconfiguration of modular robots that move by pivoting. The modules are cubes that can pivot about their edges along the x̂, ŷ, or ẑ axes to move on a 3-dimensional substrate. This is a different model from prior work, which usually considers modules that slide along their faces. We analyze the pivoting cube model and give sufficient conditions for reconfiguration to be feasible. In particular, we show that if an initial configuration does not contain any of three subconfigurations, which we call rules, then it can reconfigure into a line. We provide provably correct algorithms for reconfiguration for both 2-D and 3-D systems, and we verify our algorithms via simulation on randomly generated 2-D and 3-D configurations.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1109/ICRA.2015.7139451
