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Control Strategies and Design Guidelines for Planar Latch-Less Metamorphic Robots Based on Analysis of Dynamics
A. Deshpande, S. Srinivasa, and P. Pillai
IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2007.

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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.

Associated center: CFR
Associated lab/group: Manipulation Lab

Number of pages: 7

A. Deshpande, S. Srinivasa, and P. 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.

@inproceedings{Deshpande_2007_5837,
   author = "Ashish Deshpande and Siddhartha Srinivasa and Padmanabhan Pillai",
   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"
}