Topological representation and analysis method for multi-port and multi-orientation docking modular robots

Albert Ko*, T. L. Lau, H. Y.K. Lau

*Corresponding author for this work

Research output: Book Chapters | Papers in Conference ProceedingsConference paper (refereed)

7 Citations (Scopus)

Abstract

For MSR Robots to successfully configure from one configuration into another, the control system must be able to visualize the current structure of the robot, which cannot be done without appropriate information about each module's docking status. Although the type of information required to visualize the structure of a MSR robot differs with the physical design of the modules, there are essential information that are commonly required, such as docking orientation and identity of neighboring modules. This paper presents a novel multi-port and multi-orientation modular robot, and a representation method that can uniquely represent the geometric structure of a group of connected modules and to analyze the number of "reconfigurable DOF" within the structure. The proposed method uses labeled planar graphs and incidence matrices to describe the docking status of the modules within the structure, which helps to effectively encode the data in computer understandable expressions. In addition to the work in configuration analysis, an innovative mechanism for detecting the orientation of each docking port is also presented.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference On Robotics And Automation, 2004
PublisherThe Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Pages2210-2215
Number of pages6
Volume2004
Edition3
ISBN (Print)0780382323
DOIs
Publication statusPublished - 2004
Externally publishedYes
Event2004 IEEE International Conference on Robotics and Automation - New Orleans, United States
Duration: 26 Apr 20041 May 2004

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISSN (Print)1050-4729

Conference

Conference2004 IEEE International Conference on Robotics and Automation
CountryUnited States
CityNew Orleans
Period26/04/041/05/04

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Keywords

  • Graph Theory
  • Mechatronic Design
  • Modular Robots
  • Self-Reconfigurable Robots
  • Topological Representative

Cite this

Ko, A., Lau, T. L., & Lau, H. Y. K. (2004). Topological representation and analysis method for multi-port and multi-orientation docking modular robots. In Proceedings - IEEE International Conference On Robotics And Automation, 2004 (3 ed., Vol. 2004, pp. 2210-2215). (Proceedings - IEEE International Conference on Robotics and Automation). The Institute of Electrical and Electronics Engineers, Inc. (IEEE). https://doi.org/10.1109/ROBOT.2004.1307390