Self-reconfigurable robots for navigation and manipulation

descriptionPublicationkeyboard_double_arrow_right Part of book or chapter of book , Conference object , Article 01 Jan 1998Publisher:Springer Berlin Heidelberg

Authors: Keith Kotay; Daniela Rus;

doi: 10.1007/bfb0112997

Self-reconfigurable robots for navigation and manipulation

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Abstract

Self-reconfigurable robots consist of a set of one or more identical autonomous modules that can adapt their shape and function to tasks. We describe a module that can function as a climbing robot, a manipulator, or a leg in a multi-legged walker. This module can make autonomous transitions between these states. We present the control algorithms that enable our robot to be a versatile navigator and manipulator and report on our experimental results.

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Dartmouth College
United States

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