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Mechanical design and locomotion control of a homogenous lattice modular self-reconfigurable robot

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Abstract

In this paper, we propose a novel, 3D, like cubic shape, modular self-reconfigurable (MSR) robot named M-Cubes. Its key mechanical components are analyzed in detail. By communicating with the neighboring modules, each unit employs its automatic lock device composed of a pin and a hole on each connection plane which can connect or disconnect with neighboring modules. The M-Cubes system consisting of many identical modules cooperates to change their connection, and then the whole structure transforms into arbitrary structure. Furthermore, we describe its locomotion control based on the driving function and the adjacency matrix which is effective for solving the computationally difficult problem and optimizing the system motion path during the self-reconfiguration process. Finally, a simulation experiment using java 3D technology, proved the new method for controlling modular robot is robust and useful.

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Authors and Affiliations

  1. School of Electronics and Information Technology, Shanghai Jiao Tong University, Shanghai, 200030, China

    Xia Ping  (夏平) & Zhu Xin-jian  (朱新坚)

  2. Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, 200030, China

    Fei Yan-qiong  (费燕琼)

Authors
  1. Xia Ping  (夏平)
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  2. Zhu Xin-jian  (朱新坚)
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  3. Fei Yan-qiong  (费燕琼)
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Project (No. 50305021) supported by the National Natural Science Foundation of China

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Xia, P., Zhu, Xj. & Fei, Yq. Mechanical design and locomotion control of a homogenous lattice modular self-reconfigurable robot. J. Zhejiang Univ. - Sci. A 7, 368–373 (2006). https://doi.org/10.1631/jzus.2006.A0368

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  • DOI: https://doi.org/10.1631/jzus.2006.A0368

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