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Author Sung, C. ♦ Bern, J. ♦ Romanishin, J. ♦ Rus, D.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2015
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Mobile communication ♦ Solid modeling ♦ Lattices ♦ Clocks ♦ Robots ♦ Computed tomography ♦ Solids
Abstract 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.
Description Author affiliation: Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA (Bern, J.) || Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA (Sung, C.; Romanishin, J.; Rus, D.)
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2015-05-26
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781479969234
Size (in Bytes) 2.44 MB
Page Count 8
Starting Page 1933
Ending Page 1940


Source: IEEE Xplore Digital Library