Abstract
Modular robots are systems that can change its geometry or configuration when connecting more modules or when rearranging them in a different manner to perform a variety of tasks. Graph theory can be used to describe modular robots configurations, hence the possibility to determine the flexibility of the robot to move from one point to another. When the robot’s configurations are represented in a mathematical way, forward kinematics can be obtained.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Yim, M., Duff, D., Roufas, K.D.: Walk on the Wild Side. IEEE Robotics & Automation Magazine 9(4), 49–53 (2002)
Murata, S., Yoshida, E., Kamimura, A., Kurokawa, H., Tomita, K.Y., Kokaji, S.: M-TRAN: Self-Reconfigurable Modular Robotis System. IEEE/ASME Trans. Mechatronics 7(4), 431–441 (2002)
Castano, A., Behar, A., Will, P.M.: The CONRO Modules for Reconfigurable Robots. IEEE/ASME Trans. Mechatronics 7, 403–409 (2002)
Shen, W.-M., Krivokon, M., Chiu, H., Everist, J., Rubenstein, M., Venkatesh, J.: Multimode Locomotion for Reconfigurable Robots. Autonomous Robots 20(2), 165–177 (2006)
Escalera, J.A., Ferre, M., Aracil, R., Baca, J.: ROBMAT: Teleoperation of a Modular Robot for Collaborative Manipulation. In: Proc. 11th International Conference, Knowledge-Based Intelligent Information and Engineering Systems, Part 2, pp. 1204–1213 (September 2007)
Crespo, A., Baca, J., Yerpes, A., Ferre, M., Aracil, R., Escalera, J.A.: CAN Application in Modular Systems. In: 12th International CAN Conference, Barcelona, Spain, pp. 01-1–01-7 (2008)
Chen, I.-M., Yang, G.: Automatic generation of dynamics for modular robots with hybrid geometry. In: Proceedings of 1997 IEEE International Conference on Robotics and Automation, April 20-25, vol. 3, pp. 2288–2293 (1997)
Freudenstein, F., Dobrjanskyj, L.: On a Theory for the Type Synthesis of Mechanisms. In: Proc. 11th Int. Congress of Applied Mechanics, Munich, pp. 420–428 (1964)
Gross, J.L., Yellen, J.: Graph Theory and Its applications. Chapman & Hall/CRC (2006)
Chen, I.-M., Yang, G., Kang, I.-G.: Numerical inverse kinematics for modular reconfigurable robots. Robotic Systems J. 14, 213–225 (1999)
Ball, R.: A Treatise on the Theory of Screws. Cambridge University Press, Cambridge (1900)
Brockett, R.: Robotic Manipulators and the Product of Exponential Formula. In: Mathematical Theory of Networks and Systems, pp. 120–129 (1984)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Baca, J., Yerpes, A., Ferre, M., Escalera, J.A., Aracil, R. (2008). Modelling of Modular Robot Configurations Using Graph Theory. In: Corchado, E., Abraham, A., Pedrycz, W. (eds) Hybrid Artificial Intelligence Systems. HAIS 2008. Lecture Notes in Computer Science(), vol 5271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-87656-4_80
Download citation
DOI: https://doi.org/10.1007/978-3-540-87656-4_80
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-87655-7
Online ISBN: 978-3-540-87656-4
eBook Packages: Computer ScienceComputer Science (R0)