Locomotion through Reconfiguration based on Motor Primitives for Roombots Self-Reconfigurable Modular Robots
Konferenz: ROBOTIK 2012 - 7th German Conference on Robotics
21.05.2012-22.05.2012 in Munich, Germany
Tagungsband: ROBOTIK 2012
Seiten: 6Sprache: EnglischTyp: PDFPersönliche VDE-Mitglieder erhalten auf diesen Artikel 10% Rabatt
Bonardi, Stéphane; Moeckel, Rico; Sproewitz, Alexander; Vespignani, Massimo; Ijspeert, Auke Jan (Biorobotics Laboratory, École Polytechnique Fédérale de Lausanne (EPFL), Switzerland)
We present the hardware and reconfiguration experiments for an autonomous self-reconfigurable modular robot called Roombots (RB). RB were designed to form the basis for self-reconfigurable furniture. Each RB module contains three degrees of freedom that have been carefully selected to allow a single module to reach any position on a 2-dimensional grid and to overcome concave corners in a 3-dimensional grid. For the first time we demonstrate locomotion capabilities of single RB modules through reconfiguration with real hardware. The locomotion through reconfiguration is controlled by a planner combining the well-known D* algorithm and composed motor primitives. The novelty of our approach is the use of an online running hierarchical planner closely linked to the real hardware.