Reconfiguration planning for pivoting cube modular robots
Author(s)Bern, James; Sung, Cynthia Rueyi; Romanishin, John William; Rus, Daniela L.
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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.
DepartmentMassachusetts 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
Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA)
Institute of Electrical and Electronics Engineers (IEEE)
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).
Author's final manuscript