Coordinating Collective Locomotion in an Amorphous Modular Robot
View/ Open
Published Version
https://doi.org/10.1109/ROBOT.2010.5509867Metadata
Show full item recordCitation
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.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 asymmetricOther Sources
http://wyss.harvard.edu/staticfiles/newsletter/newsletter-may2010/AAMAS-modular-robots.pdfhttp://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#OAPCitable link to this page
http://nrs.harvard.edu/urn-3:HUL.InstRepos:5360187
Collections
- FAS Scholarly Articles [18256]
Contact administrator regarding this item (to report mistakes or request changes)