Mobility Hierarchy and Simulation of a Modular, Reconfigurable, Tetrahedral Robot System

Yin M. Chen, Brendan Englot

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publicationRobot Intelligence Technology and Applications 6 - Results from the 9th International Conference on Robot Intelligence Technology and Applications
EditorsJinwhan Kim, Brendan Englot, Hae-Won Park, Han-Lim Choi, Hyun Myung, Junmo Kim, Jong-Hwan Kim
Pages129-141
Number of pages13
DOIs
StatePublished - 2022
Event9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021 - Daejeon, Korea, Democratic People's Republic of
Duration: 16 Dec 202117 Dec 2021

Publication series

NameLecture Notes in Networks and Systems
Volume429 LNNS
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389

Conference

Conference9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021
Country/TerritoryKorea, Democratic People's Republic of
CityDaejeon
Period16/12/2117/12/21

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