Modelling of Modular Robot Configurations Using Graph Theory

  • Authors:

  • José Baca;Ariadna Yerpes;Manuel Ferre;Juan A. Escalera;Rafael Aracil

  • Affiliations:

  • Universidad Politécnica de Madrid, Madrid, Spain 28006;Universidad Politécnica de Madrid, Madrid, Spain 28006;Universidad Politécnica de Madrid, Madrid, Spain 28006;Universidad Politécnica de Madrid, Madrid, Spain 28006;Universidad Politécnica de Madrid, Madrid, Spain 28006

  • Venue:
  • HAIS '08 Proceedings of the 3rd international workshop on Hybrid Artificial Intelligence Systems
  • Year:
  • 2008

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Abstract

Modular robots are systems that can change its geometry or configuration when connecting more modules or when rearranging them in a different manner to perform a variety of tasks. Graph theory can be used to describe modular robots configurations, hence the possibility to determine the flexibility of the robot to move from one point to another. When the robot's configurations are represented in a mathematical way, forward kinematics can be obtained.