Hierarchical control for self-assembling mobile trusses with passive and active links

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 1483-1490

  Detweiler, Carrick ^a   Vona, Marsette ^a   Kotay, Keith ^a   Rus, Daniela ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER HARDWARE; MOBILE ROBOTS; MODULAR ROBOTS; PRODUCT DESIGN; SELF ADJUSTING CONTROL SYSTEMS;

HIERARCHICAL ALGORITHMS; MOBILE TRUSSES; MODULAR TRUSSES;

HIERARCHICAL SYSTEMS;

EID: 33845625271     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1641918     Document Type: Conference Paper

References (29)

1. Satoshi Murata, Haruhisa Kurokawa, Eiichi Yoshida, Kohji Tomita, and Shigeru Kokaji, "A 3-d self-reconfigurable structure," in Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leeuven, Belgium, May 1998, pp. 432-439.
2. Keith Kotay, Daniela Rus, Marsette Vona, and Craig McGray, "The self-reconfiguring robotic molecule: Design and control algorithms," in Workshop on the Algorithmic Foundations of Robotics, 1998.
3. _, "The self-reconfiguring robotic molecule," in IEEE International Conference on Robotics and Automation, 1998.
4. Keith Kotay, "Self-reconfiguring robots: Designs, algorithms, and applications," Ph.D. dissertation, Dartmouth College, Dec. 2003.
5. Cem Unsal, Han Kiliccote, and Pradeep Khosla, "A modular self-reconfigurable bipartite robotic system: Implementation and motion planning," Autonomous Robots, vol. 10, no. 1, pp. 23-40, Jan. 2001.
6. David G. Duff, Mark Yim, and Kimon Roufas, "Evolution of polybot: A modular reconfigurable robot," in Proceedings of the Harmonic Drive International Symposium, Nagano, Japan, Nov. 2001.
7. Henrik Hautop Lund, Richard Beck, and Lars Dalgaard, "ATRON hardware modules for self-reconfigurable robotics," in Proceedings of 10th International Symposium on Artificial Life and Robotics (AROB'10), ISAROB, Sugisaka and Takaga, Ed., Oita, 2005.
8. Kasper Støy, "The ATRON self-reconfigurable robot: challenges and future directions," Presentation at the Workshop on Self-reconfigurable Robotics at the Robotics Science and Systems Conference, July 2005.
9. Gregory S. Chirikjian and Joel W. Burdick, "A hyper-redundant manipulator," IEEE Robotics & Automation Magazine, pp. 22-29, Dec. 1994.
10. Aaron Greenfield, Alfred A. Rizzi, and Howie Choset, "Dynamic ambiguities in frictional rigid-body systems with application to climbing via bracing," in Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, Apr. 2005, pp. 1959-1964.
11. Jackrit Suthakorn and Gregory S. Chirikjian, "A new inverse kinematics algorithm for binary manipulators with many actuators," Advanced Robotics, vol. 15, no. 2, pp. 225-244, 2001.
12. A. Wolf, H. B. Brown, R. Casciola, A. Costa, M. werin, E. Shamas, and H. Choset, "A mobile hyper redundant mechanism for search and rescue tasks," in Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, Oct. 2003, pp. 2889-2895.
13. Gregory J. Hamlin and Arthur C. Sanderson, "Tetrobot: A modular approach to parallel robotics," IEEE Robotics & Automation Magazine, pp. 42-49, Mar. 1997.
14. Tanio K. Tanev, "Kinematics of a hybrid (parallel-serial) robot manipulator," Mechanism and Machine Theory, vol. 35, pp. 1183-1196, 2000.
15. Gregory S. Chirikjian, "General methods for computing hyper-redundant manipulator inverse kinematics," in Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan, 1993, pp. 1067-1073.
16. Robert L. Williams II and James B. Mayhew IV, "Cartesian control of VGT manipulators applied to DOE hardware," in Proceedings of the Fifth National Conference on Applied Mechanisms and Robotics, Cincinnati, OH, Oct. 1997.
17. Jacob Everist, Kasra Mogharei, Harshit Suri, Nadeesha Ranasinghe, Berok Khoshnevis, Peter Will, and Wei-Min Shen, "A system for in-space assembly," in Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, 2004, pp. 2356-2361.
18. William Doggett, "Robotic assembly of truss structures for space systems and future research plans," in IEEE Aerospace Conference Proceedings, Mar. 2002.
19. Hisanori Amano, Koichi Osuka, and Tzyh-Jong Tarn, "Development of vertically moving robot with gripping handrails for fire fighting," in Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, 2001, pp. 661-667.
20. Zaidi Mohd Ripin, Tan Beng Soon, A.B. Abdullah, and Zahurin Samad, "Development of a low-cost modular pole climbing robot," in TENCON, vol. I, Kula Lumpur, Malaysia, 2000, pp. 196-200.
21. Michael Nechyba and Yangsheng Xu, "SM2 for new space station structure: Autonomous locomotion and teleoperation control," in Proceedings of the IEEE International Conference on Robotics and Automation, vol. 2, May 1994, pp. 1765-1770.
22. _, "Human-robot cooperation in space: SM2 for new space station structure," IEEE Robotics and Automation Magazine, vol. 2, no. 4, pp. 4-11, Dec. 1995.
23. M. Almonacid, R. J. Saltarén, R. Aracil, and O. Reinoso, "Motion planning of a climbing parallel robot," IEEE Transactions on Robotics and Automation, vol. 19, no. 3, pp. 485-489, 2003.
24. Ben Iannotta, "Creating robots for space repairs," Aerospace America, pp. 36-40, May 2005.
25. Serguei Vassilvitskii, Jeremy Kubica, Elanor Rieffel, John Suh, and Mark Yim, "On the general reconfiguration problem for expanding cube style modular robots," in Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington, DC, May 2002, pp. 801-808.
26. An Nguyen, Leonidas J. Guibas, and Mark Yim, "Controlled module density helps reconfiguration planning," in Proceedings of WAFR 2000: New Directions in Algorithmic and Computational Robotics, 2001, pp. 23-36.
27. Daniela Rus and Marsette Vona, "Crystalline robots: Self-reconfiguration with compressible unit modules," Autonomous Robots, vol. 10, no. 1, pp. 107-124, Jan. 2001.
28. A. Pamecha, I. Ebert-Uphoff, and G.S. Chirikjian, "Useful metric for modular robot motion planning," IEEE Transactions on Robotics and Automation, vol. 13, no. 4, pp. 531-545, 1997.
29. Samuel R. Buss, "Introduction to inverse kinematics with jacobian transpose pseudoinverse and damped least squares methods," 17 Apr. 2004, available on the web at http://www.math.ucsd.edu/ sbuss/ResearchWeb/ikmethods/ iksurvey.pdf.