A Modular Self-Reconfigurable Bipartite Robotic System: Implementation and Motion Planning
作者： Cem Ünsal , Han Kiliççöte , Pradeep K Khosla
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摘要: In this manuscript, we discuss i>I-Cubes, a class of modular robotic system that is capable reconfiguring itself in 3-D to adapt its environment. This bipartite system, i.e., collection (i) active elements for actuation, and (ii) passive acting as connectors. Active (i>links) are 3-DOF manipulators attaching/detaching from/to the (i>cubes), which can be positioned oriented using links. Self-reconfiguration capability enables perform locomotion tasks over difficult terrains shape size changed according task. paper describes design reconfiguration properties. Specifics hardware implementation, results experiments with current prototypes, our approach motion planning problems related given.
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