Hardware Design for Self-reconfigurable Modular Robot with Algorithms for Reconfiguration Planning
Date Issued
2011
Date
2011
Author(s)
Pan, Chien-Chih
Abstract
A self-reconfigurable modular robotic system consists of several modular robots which have the same function and characteristic such as shape, size, computational power, connecting mechanism, etc. If the modular robotic system needs changing the configuration to adapt to different environments and perform various tasks, the modular robots actuate connectors to connect with other modular robots or disconnect from others to change overall structure of the system. The determination of the sequence of moves and the control over actuators both are considerable topics in this circumstance.
In this thesis, we design the hardware of the modular robot and the prototype is fabricated. The different metrics are used to define the distance function between the initial configuration and the final configuration. Based on these metrics and A* algorithm, the methods are proposed to find out the optimal reconfiguration and the feasible reconfiguration from a decided initial configuration to a desired final configuration for the modular robotic system.
At the end of thesis, the time complexity analysis of these proposed methods will be derived mathematically in detail. Some cases with different number of modules are also simulated and the statistical data of simulation results will be shown. Finally, performance of these methods will be compared and presented by examining these results.
Subjects
Self-reconfigurable
modular robot
algorithm
reconfiguration planning
configuration
Type
thesis
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