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Reliable External Actuation for Extending Reachable Robotic Modular Self-Reconfiguration

  • Paul J. White
  • Mark Yim
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 54)

Summary

External actuation in self-reconfigurable modular robots promises to allow modules to shrink down in size. Synchronous external motions promise to allow fast convergence and assembly times. XBot is a modular system that uses synchronous external actuation, but has a limited range of reachable configurations stemming from a single motion primitive of a module rotating about another. This paper proposes to extend the motion primitives by using moves with two modules swinging in a dynamic chain. The feasibility of these motion primitives is proven experimentally. A parameterization of the external actuation motion profiles is explored to define a space of physically valid motion profiles. The larger the space, the more robust the motion primitives will be to inexact initial conditions and to imprecision in the external actuation mechanisms. Additionally, this paper proves a configuration of XBot meta-modules can reach any configuration using just these motion primitives.

Keywords

Shape Memory Alloy Shape Memory Alloy Wire Double Pendulum Motion Primitive Simple Pendulum 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Paul J. White
    • 1
  • Mark Yim
    • 1
  1. 1.GRASP LabUniversity of PennsylvaniaPhiladelphiaUSA

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