Simple components for a reconfigurable modular robotic system

Authors:
Matthew S. Moses;Gregory S. Chirikjian
Affiliations:
Department of Mechanical Engineering, Johns Hopkins University, Baltimore, Maryland;Department of Mechanical Engineering, Johns Hopkins University, Baltimore, Maryland
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

A set of modular components is presented for use in reconfigurable robots. The proposed architecture for large systems built with these components is a number of active mobile devices operating within a larger, passive structural grid. The mobile devices and grid are constructed from the same class of heterogeneous modular components. The components themselves are designed for low-cost simple fabrication methods. Results from some experimental demonstrations are presented.