Control Strategies and Design Guidelines for Planar Latch-Less Metamorphic Robots Based on Analysis of Dynamics

Ashish Deshpande, Siddhartha Srinivasa, and Padmanabhan Pillai
IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2007.


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Abstract
Modular robotic systems with no fixed mechanical contacts have the ability to adopt and reconfigure very rapidly, but are very difficult to control dynamically. Moving module solely with electro-magnetic or -static forces can lead to un-wanted slipping or even loss of contact. This paper presents a strategy for the design controllers for such modules based on the limits derived by combining contact constraints and actuator saturation. We demonstrate the design of a simple but effective controller for two-module motions. We also present guidelines for the design of the modules based on the limitations of the controller.

Keywords
modular robots, dynamics, motion planning, friction

Notes
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Manipulation Lab
Number of pages: 7

Text Reference
Ashish Deshpande, Siddhartha Srinivasa, and Padmanabhan Pillai, "Control Strategies and Design Guidelines for Planar Latch-Less Metamorphic Robots Based on Analysis of Dynamics," IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2007.

BibTeX Reference
@inproceedings{Srinivasa_2007_5837,
   author = "Ashish Deshpande and Siddhartha Srinivasa and Padmanabhan Pillai",
   editor = "IEEE",
   title = "Control Strategies and Design Guidelines for Planar Latch-Less Metamorphic Robots Based on Analysis of Dynamics",
   booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems",
   month = "November",
   year = "2007",
}