Abstract
—Like cellular systems—Modular Self-Reconfigurable Robots (MSRR)—accomplish certain tasks through coordination of numerous independent modules. At the center of Cellular Automation (CA) is the sliding cube model (SCM) that is a mainstay supporting theoretical developments. Motion constraints of physical modules limit the application of CA method in real robotic systems. This paper proposes a new strategy for implementing CA on MSRR—which is a synergy of CA rules and modular design. Firstly, using the geometric expression of CA rules for SCM, a 2-DOF cube-shaped MSRR module (UBot system) is proposed, which lays the foundation for implementation of unified and highly effective modular locomotion criteria. Secondly, cellular rules are arranged according to the locomotion property of UBot module, and distributed control algorithm is designed for the robot to explore unknown environments. Simulations results verified this approach with reconfiguration locomotion of UBot robots in diverse unfamiliar environments. Hardware experiment with 16 modules also indicates the physical feasibility of the method.
| Original language | English |
|---|---|
| Pages (from-to) | 37-54 |
| Number of pages | 18 |
| Journal | Journal of Intelligent and Robotic Systems: Theory and Applications |
| Volume | 79 |
| Issue number | 1 |
| DOIs | |
| State | Published - 8 Jul 2015 |
Keywords
- Cellular automata
- Distributed control
- Modular robot
- Reconfiguration locomotion
- Self-reconfigurable robot
- UBot
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