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Locomotion Versatility through Self-reconfiguration (1998)
by
Keith Kotay
,
Daniela Rus
| Venue: | Robotics and Autonomous Systems |
| Citations: | 56 - 31 self |
BibTeX
@ARTICLE{Kotay98locomotionversatility,
author = {Keith Kotay and Daniela Rus},
title = {Locomotion Versatility through Self-reconfiguration},
journal = {Robotics and Autonomous Systems},
year = {1998},
volume = {26},
pages = {217--232}
}
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Abstract
We discuss a robotic module called a Molecule. Molecules can be the basis for building self-reconfiguring robots. They support multiple modalities of locomotion and manipulation. We describe the design, functionality, and control of the Molecule. We show how a set of Molecules can aggregate as active three-dimensional structures that can move and change shape. Finally, we discuss global motion algorithms for Molecular structures.
