Locomotion of miniature catom chains: Scale effects on gait and velocity

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 2254-2260

  Christensen, David Johan ^a   Campbell, Jason ^b  

^a UNIVERSITY OF SOUTHERN DENMARK   (Denmark)

^b INTEL RESEARCH   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; INDUSTRIAL LOCOMOTIVES; INTELLIGENT ROBOTS; OPTIMIZATION; PATTERN RECOGNITION; VELOCITY CONTROL;

MASS RATIO; MINIATURE CATOM CHAINS; PATTERN GENERATORS;

MINICOMPUTERS;

EID: 36349007569     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.363655     Document Type: Conference Paper

References (16)

1. A. Castano and P. Will. Mechanical design of a module for autonomous reconfigurable robots. In Proceedings, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'00), 2000.
2. T. Fukuda and S. Nakagawa. Dynamically reconfigurable robotic system. In IEEE Int. Conf. on Robotics & Automation, 1988.
3. S. Goldstein, J. Campbell, and T. Mowry. Programmable matter. Computer, 38(6):99-101, June 2005.
4. A.J. Ijspeert. A connectionist central pattern generator for the aquatic and terrestrial gaits of a simulated salamander. Biological Cybernetics, 84(5):331-348, 2001.
5. A. Kamimura, H.Kurokawa, E. Yoshida, S. Murata, K. Tomita, and S. Kokaji. Automatic locomotion design and experiments for a modular robotic system. IEEE/ASME Transactions on Mechatronics, 10(3):314-325, June 2005.
6. A. Kamimura, H. Kurokawa, E. Yoshida, K. Tomita, S. Murata, and S. Kokaji. Automatic locomotion pattern generation for modular robots. In IEEE International Conference on Robotics and Automation (ICRA), pages 714-720, 2003.
7. D. Marbach and A.J. Ijspeert. Online optimization of modular robot locomotion. In Proceedings of the IEEE Int. Conference on Mechatronics and Automation (ICMA 2005), pages 248-253, 2005.
8. J. Mikkelsen. Locomotion, in ATRON robot systems. Master's thesis, University of Southern Denmark, The Maersk McKinney Moller Institute for Production Technology, July 2005.
9. S. Murata, A. Kamimura, H. Kurokawa, E.i Yoshida, K. Tomita, and S. Kokaji. Self-reconfigurable robots: Platforms for emerging functionality. In Lecture Notes in Artificial Intelligence, volume 3139, pages 312-330. Springer-Verlag, 2004.
10. W.-M. Shen, M. Krivokon, M. Rubenstein, C. H. Chiu, J. E., and J. B. Venkatesh. Multimode locomotion via superbot reconfigurable robots. Autonomous Robots, 20(2):165-177, 2006.
11. W.-M. Shen, B. Salemi, and P. Will. Hormone-inspired adaptive communication and distributed control for conro self-reconfigurable robots. IEEE Transactions on Robotics and Automation, 18:700-712, 2002.
12. R. Smith. Open dynamics engine. www.ode.org, 2005.
13. K. Støy, W.-M. Shen, and P. Will. A simple approach to the control of locomotion in self-reconfigurable robots. Robotics and Autonomous Systems, 44:191-199, 2003.
14. M. Yim. New locomotion gaits. In Proceedings, International Conference on Robotics & Automation (ICRA'94), pages 2508 -2514, San Diego, California, USA, 1994.
15. M. Yim, D.G. Duff, and K.D. Roufas. Polybot: A modular reconfigurable robot. In Proceedings of IEEE International Conference on Robotics & Automation (ICRA), pages 514-520, San Francisco, CA, USA, 2000.
16. Y. Zhang, M. Yim, C. Eldershaw, D. Duff, and K. Roufas. Phase automata: a programming model of locomotion gaits for scalable chain-type modular robots. In Proceedings, IEEE/RSJ conference on intelligent robots and systems (IROS), Las Vegas, Nevada, USA, 2003.