Autonomous Reconfiguration in a Self-assembling Multi-robot System
ANTS '08 Proceedings of the 6th international conference on Ant Colony Optimization and Swarm Intelligence
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ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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Autonomous Robots
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ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Model-based kinematics generation for modular mechatronic toolkits
GPCE '10 Proceedings of the ninth international conference on Generative programming and component engineering
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SAB'10 Proceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats
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CHI '11 Extended Abstracts on Human Factors in Computing Systems
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Robotics and Autonomous Systems
Programming language abstractions for self-reconfigurable robots
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Modular and reconfigurable mobile robotics
Robotics and Autonomous Systems
Annals of Mathematics and Artificial Intelligence
Robotics and Autonomous Systems
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Self-reconfigurable robots are robots that can change their shape in order to better suit their given task in their immediate environment. Related work on around fifteen such robots is presented, compared and discussed. Based on this survey, design considerations leading to a novel design for a self-reconfigurable robot, called "ATRON", is described. The ATRON robot is a lattice-based self-reconfigurable robot with modules composed of two hemispheres joined by a single revolute joint. Mechanical design and resulting system properties are described and discussed, based on FEM analyses as well as real-world experiments. It is concluded that the ATRON design is both competent and novel. Even though the ATRON modules are minimalistic, in the sense that they have only one actuated degree of freedom, the collective of modules is capable of self-reconfiguring in three dimensions. Also, a question is raised on how to compare and evaluate designs for self-reconfigurable robots, with a focus on lattice-based systems.