Theory and applications of modular reconfigurable robotic systems
Theory and applications of modular reconfigurable robotic systems
The self-reconfiguring robotic molecule: design and control algorithms
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
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Proceedings of the 5th International Symposium on Experimental Robotics V
Modular Reconfigurable Robots in Space Applications
Autonomous Robots
EuroGP '01 Proceedings of the 4th European Conference on Genetic Programming
Distributed reconfiguration of metamorphic robot chains
Distributed Computing
Multimode locomotion via SuperBot reconfigurable robots
Autonomous Robots
Automatic Modular Assembly System and its Distributed Control
International Journal of Robotics Research
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Robust and reversible self-reconfiguration
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Simple components for a reconfigurable modular robotic system
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Optimal seeding of self-reproducing systems
Artificial Life
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Robotics and Autonomous Systems
Modular and reconfigurable mobile robotics
Robotics and Autonomous Systems
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In this manuscript, we discuss iI-Cubes, a class of modular robotic system thatis capable of reconfiguring itself in 3-D to adapt to its environment. This is abipartite system, i.e., a collection of (i) active elements for actuation, and (ii)passive elements acting as connectors. Active elements (ilinks) are 3-DOFmanipulators that are capable of attaching/detaching from/to the passive elements(icubes), which can be positioned and oriented using links. Self-reconfigurationcapability enables the system to perform locomotion tasks over difficult terrain; theshape and size can be changed according to the task. This paper describes the designof the system, and 3-D reconfiguration properties. Specifics of the hardwareimplementation, results of the experiments with the current prototypes, our approachto motion planning and problems related to 3-D motion planning are given.