ICRA 2011 Paper Abstract


Paper TuA209.5

Escalera, Juan Antonio (Universidad Politecnica de Madrid), Baca, Jose (Universidad Politecnica de Madrid), Ferre, Manuel (Universidad Politecnica de Madrid), Aracil, Rafael (Universidad Politecnica de Madrid)

Equivalent Fixed Shape Robot Model of a Modular Robot Configuration Based on Module Characterization

Scheduled for presentation during the Regular Sessions "Cellular and Modular Robots II" (TuA209), Tuesday, May 10, 2011, 11:05−11:20, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Cellular and Modular Robots


The modeling of a modular robot system is complex due to its capability of changing and forming countless robot configurations with a set of modules. The greater the number of modules added to the structure, more complicated is the robot and its modeling. A methodology to represent modular robot configurations as a fixed shape robot is presented. The equivalent model is obtained through the characterization of the module, graph theory and geometric modeling of robots. After the transformation, the resulting kinematic and dynamic parameters are similar to the traditional model of a single configuration robot. Once the equivalent model is obtained, it can be used within different robot applications.



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