Date of this Version
This report focuses on two different aspects of modular robots, the enumeration of distinct configurations of a modular robot and the generation of gaits for hybrid robots with wheels and legs. Given a particular set of modules from which the robot can be formed, a modular robot made up of these modules can attain a number of different configurations based on the relative attachment of the modules. The distinct configurations possible are enumerated for a locomotion system consisting of a base with multiple ports where wheel or leg modules can be attached.
Given a particular configuration of the modular robot, we would like to generate a set of inputs that would drive the robot from an initial position to a desired position. The method used for this must be applicable to different kinds of modules that may be used for locomotion. The method presented here involves generating a set of constant inputs that will drive a drift-free system from an initial to a final desired position. Simulation results are generated for translation and rotation of the robot and motion along a Lie Bracket direction (sideways motion) for the hybrid mobile robot.
Chitta, Sachin and Ostrowski, James P., "Enumeration and Motion Planning for Modular Mobile Robots" (2001). Technical Reports (CIS). Paper 73.
Date Posted: 30 October 2006