Coordinating Collective Locomotion in an Amorphous Modular Robot
| Title: | Coordinating Collective Locomotion in an Amorphous Modular Robot |
| Author: |
Yu, Chih-Han; Werfel, Justin K; Nagpal, Radhika
Note: Order does not necessarily reflect citation order of authors. |
| Citation: | Yu, Chih-Han, Justin K. Werfel, and Radhika Nagpal. 2010. Coordinating collective locomotion in an amorphous modular robot. Robotics and Automation (ICRA), 2010 IEEE International Conference, May 3-8, 2010, Anchorage, Alaska, 2777-2784. Piscataway, N.J.: Institute of Electrical and Electronics Engineers. |
| Full Text & Related Files: |
Yu_CoordinatingCollective.pdf (1.656Mb; PDF) 
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| Abstract: | Modular robots can potentially assemble into a wide range of configurations to locomote in different environments. However, designing locomotion strategies for each configuration is often tedious and has generally relied on a priori known connection geometry. Here we present a framework for 2D modular robots made of square modules assembled with arbitrary geometry, which achieve collective and directed locomotion with no centralized controller. Individual modules communicate locally and provably achieve consensus in coordinating movement in a common travel direction. In experiments with simulations and hardware prototypes, we show that robots achieve effective locomotion, irrespective of the number of modules and their connectivity which can be highly asymmetric |
| Published Version: | doi:10.1109/ROBOT.2010.5509867 |
| Other Sources: |
http://wyss.harvard.edu/staticfiles/newsletter/newsletter-may2010/AAMAS-modular-robots.pdf
http://www.eecs.harvard.edu/ssr/papers/icra10-chihhan.pdf |
| Terms of Use: | This article is made available under the terms and conditions applicable to Open Access Policy Articles, as set forth at http://nrs.harvard.edu/urn-3:HUL.InstRepos:dash.current.terms-of-use#OAP |
| Citable link to this page: | http://nrs.harvard.edu/urn-3:HUL.InstRepos:5360187 |
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