The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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",
}

The Robotics Institute

Menu