Phase automata: a programming model of locomotion gaits for scalable chain-type modular robots
Modular reconfigurable robots have shown the promises of great versatility and robustness; however programming locomotion gaits for hundreds of modules remains a challenge. In this paper we present a formal model for programming locomotion gaits in chain-type modular robots: Phase Automata. A phase automaton is an event-driven input/output state automaton with an initial phase delay. The phase delay is normally a real value between 0 and 1. Phase automata are capable of being embedded and distributed across modules. They have been implemented on both PCs and embedded microprocessors. Locomotion gaits programmed using phase automata have been tested both in simulation with 100+ modules and in hardware with 50+ modules.
Zhang, Y. ; Yim, M. H. ; Eldershaw, C. ; Duff, D. G. ; Roufas, K. D. Phase automata: a programming model of locomotion gaits for scalable chain-type modular robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003); 2003 October 27 - 31; Las Vegas, NV. Piscataway NJ: IEEE; 2003; 2442-2447.