Scalable and reconfigurable configurations and locomotion gaits for chain-type modular reconfigurable robots
Modular reconfigurable robots have shown the promises of great versatility and robustness; however, they also impose design challenges on mechanical, electronic and software scalability. In this paper, we present a class of configura- tions that are scalable mechanically and electronically. Moreover, there exists a predefined reconfiguration se- quences between any of the three types of configuration, namely, snakes, centipedes, and multi-loops. Locomotion gaits for the three types of configurations are defined and created using Phase Automata, a generalization of gait tables. The system has been tested both in simulation of 100+ modules and in hardware of 50+ modules.
Zhang, Y. ; Yim, M. H. ; Eldershaw, C. ; Duff, D. G. ; Roufas, K. D. Scalable and reconfigurable configurations and locomotion gaits for chain-type modular reconfigurable robots. IEEE International Symposium on Computational Intelligence in Robotics and Automation; 2003 July 16 - 20; Kobe; Japan. Piscataway NJ: IEEE; 2003; 893-899.