Phase Automata: A Programming Model of Locomotion Gaits for Scalable Chain-type Modular Robots

IEEE International Conference on Intelligent Robots and Systems

Volumn 3, Issue , 2003, Pages 2442-2447

  Zhang, Ying ^a   Yim, Mark ^a   Eldershaw, Craig ^a   Duff, Dave ^a   Roufas, Kimon ^a  

^a PALO ALTO RESEARCH CENTER   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AUTOMATION; COMPUTATIONAL METHODS; COMPUTER SIMULATION; EMBEDDED SYSTEMS; INTERFACES (COMPUTER); INVERSE KINEMATICS; LIGHT EMITTING DIODES; MANIPULATORS; ROBOT PROGRAMMING; ROBOTICS; XML;

LOCOMOTION GAITS; PHASE AUTOMATA;

MODULAR ROBOTS;

EID: 0346778969     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (18)

1. C.G. Cassandras and S. Lafortune, Introduction to Discrete Event Systems, Kluwer Academic Publishers, 1999.
2. T. Fukuda, S. Nakagawa, "Dynamically Reconfigurable Robotic System," Proc. of the IEEE Int. Conf. on Robotics and Automation, 1988, pp. 1581-1586.
3. S. Murata, H. Kurokawa, E. Yoshida, K. Tomita, S. Kokaji, "A 3D Self-Reconfigurable Structure," Proc. of the IEEE International Conf. on Robotics and Automation, May 1998, pp. 432-439.
4. A. Pamecha, C. Chiang, D. Stein, G.S. Chirikjian, "Design and Implementation of Metamorphic Robots," Proc. of the 1996 ASME Design Engineering Technical Conf. and Computers in Engineering Conf., Irvine, California, August 1996.
5. K. Roufas, Y. Zhang, D. Duff, M. Yim, "Six Degree of Freedom Sensing for Docking using IR LED Emitters and Receivers," Seventh International Symposium on Experimental Robots, Dec. 2000.
6. D. Rus, M. Vona, "Self-reconfiguration Planning with Compressible Unit Modules," Proc. of the IEEE International Conf. on Robotics and Automation, pp2513-2520, May 1999.
7. S.M. Song and K.J. Waldron, Machines that Walk: The Adaptive Suspension Vehicle, the MIT Press, 1989.
8. K. Tomita et al, "Development of a Self-Reconfigurable Modular Robotic System," Proc. of SPIE Sensor Fusion and Decentralized Control in Robotic Systems III, Vol. 4196.
9. C. Unsal, P.K. Khosla, "Solutions for 3-D Self-reconfiguration in a Modular Robotic System: Implementation and Path Planning," Proc. of SPIE Sensor Fusion and Decentralized Control in Robotic Systems III, Vol. 4196.
10. P. Will, A. Castano, W-M Shen, "Robot modularity for self-reconfiguration," SPIE Intl. Symposium on Intelligent Sys. and Advanced Manufacturing, Proceeding Vol. 3839, Sept. 1999, pp. 236-245.
11. M. Yim, "New Locomotion Gaits," Proc. of the IEEE International Conf. on Robotics and Automation, May 1994, pp. 2508-2514.
12. M. Yim, D. Duff, K. Roufas, "PolyBot: a Modular Reconfigurable Robot" Proc. of the IEEE Int. Conf. on Robotics and Automation, April 2000.
13. M. Yim, Y. Zhang, J. Lamping, E. Mao, "Distributed Control for 3D Metamorphosis," Autonomous Robots 10, special issue on self-reconfigurable robots, 2001, pp. 41-56.
14. M. Yim, Y. Zhang, D. Duff: "Modular Robots", Cover Story on February 2002 issue of IEEE Spectrum Magazine.
15. Y. Zhang, K. Roufas, M. Yim, "Software Architecture for Modular Self-Reconfigurable Robots", IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Hawaii, USA, Oct. 2001.
16. Y. Zhang, K. Roufas, M. Yim, C. Eldershaw, "Massively Distributed Control Nets for Modular Self-Reconfigurable Robots", 2002 AAAI Spring Symposium on Intelligent Distributed and Embedded Systems.
17. Y. Zhang, K. Roufas, C. Eldershaw, M. Yim, D. Duff, "Sensor Computation in Modular Self-Reconfigurable Robots", Experimental Robotics VIII, Advanced Robotics Series, Bruno Siciliano Ed. Springer, 2003.
18. Y. Zhang, M. Yim, K. Roufas, C. Eldershaw, D. Duff, "Attribute/Service Model: Design Patterns for Efficient Coordination of Distributed Sensors, Actuators and Tasks in Embedded Systems", Workshop on Embedded System Codesigns, 2002.