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Distributed prediction of unsafe reconfiguration scenarios of modular robotic Programmable Matter
- Source :
- IEEE Transactions on Robotics, vol. 37, no. 6, pp. 2226-2233, Dec. 2021
- Publication Year :
- 2020
-
Abstract
- We present a distributed framework for predicting whether a planned reconfiguration step of a modular robot will mechanically overload the structure, causing it to break or lose stability under its own weight. The algorithm is executed by the modular robot itself and based on a distributed iterative solution of mechanical equilibrium equations derived from a simplified model of the robot. The model treats inter-modular connections as beams and assumes no-sliding contact between the modules and the ground. We also provide a procedure for simplified instability detection. The algorithm is verified in the Programmable Matter simulator VisibleSim, and in real-life experiments on the modular robotic system Blinky Blocks.
- Subjects :
- Computer Science - Robotics
Subjects
Details
- Database :
- arXiv
- Journal :
- IEEE Transactions on Robotics, vol. 37, no. 6, pp. 2226-2233, Dec. 2021
- Publication Type :
- Report
- Accession number :
- edsarx.2006.11071
- Document Type :
- Working Paper
- Full Text :
- https://doi.org/10.1109/TRO.2021.3074085