TY - GEN
T1 - Mobility Hierarchy and Simulation of a Modular, Reconfigurable, Tetrahedral Robot System
AU - Chen, Yin M.
AU - Englot, Brendan
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - Three dimensional modular robots are notoriously complicated to design and control. In order to make use of such a system for observation and experimentation, we have created a simulation of numerous identical tetrahedral robot modules. This paper describes the construction and physical rules surrounding the single structures as well as how one unit combines with others to create a composite. Various “small” group capabilities are discussed as well as an overview of how the simulation handles larger structures. Finally, an experimental comparison is presented where the system is used for testing the performance of these modular robots in the presence of an obstacle.
AB - Three dimensional modular robots are notoriously complicated to design and control. In order to make use of such a system for observation and experimentation, we have created a simulation of numerous identical tetrahedral robot modules. This paper describes the construction and physical rules surrounding the single structures as well as how one unit combines with others to create a composite. Various “small” group capabilities are discussed as well as an overview of how the simulation handles larger structures. Finally, an experimental comparison is presented where the system is used for testing the performance of these modular robots in the presence of an obstacle.
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U2 - 10.1007/978-3-030-97672-9_12
DO - 10.1007/978-3-030-97672-9_12
M3 - Conference contribution
AN - SCOPUS:85128459554
SN - 9783030976712
T3 - Lecture Notes in Networks and Systems
SP - 129
EP - 141
BT - Robot Intelligence Technology and Applications 6 - Results from the 9th International Conference on Robot Intelligence Technology and Applications
A2 - Kim, Jinwhan
A2 - Englot, Brendan
A2 - Park, Hae-Won
A2 - Choi, Han-Lim
A2 - Myung, Hyun
A2 - Kim, Junmo
A2 - Kim, Jong-Hwan
T2 - 9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021
Y2 - 16 December 2021 through 17 December 2021
ER -