Journal ArticleDOI
TETROBOT: a modular approach to parallel robotics
G.J. Hamlin,A.C. Sanderson +1 more
TLDR
The TETROBOT system addresses the needs of application domains, such as space, undersea, mining, and construction, where adaptation to unstructured and changing environments and custom design for rapid implementation are required.Abstract:
The TETROBOT is an actuated robotic structure which may be reassembled into many different configurations while still being controlled by the same hardware and software architecture. The TETROBOT system addresses the needs of application domains, such as space, undersea, mining, and construction, where adaptation to unstructured and changing environments and custom design for rapid implementation are required.read more
Citations
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Journal ArticleDOI
Modular and reconfigurable mobile robotics
Paul M. Moubarak,Pinhas Ben-Tzvi +1 more
TL;DR: There is optimism that a more complete understanding of this field will serve as a starting ground for innovation and integration of modular and reconfigurable mobile robotics in the urban environment.
Journal ArticleDOI
Modular Robot Motion Planning Using Similarity Metrics
TL;DR: The fundamental question of how closely geometric figures can be made to match under a given group of transformations (e.g., rigid-body motions) is addressed, and what it means to bisect two shapes is illustrated.
Journal ArticleDOI
Kinematic manipulability of general constrained rigid multibody systems
John T. Wen,L.S. Wilfinger +1 more
TL;DR: This paper extends the kinematic manipulability concept commonly used for serial manipulators to general constrained rigid multibody systems, Examples of such systems include multiple cooperating manipulators, multiple fingers holding a payload, multileg walking robots, and variable geometry trusses.
Journal ArticleDOI
Modular Reconfigurable Robotics
Jungwon Seo,Jamie Paik,Mark Yim +2 more
TL;DR: The current state of the art in the development of modular reconfigurable robot (MRR) systems is reviewed and promising future research directions are suggested.
Journal ArticleDOI
An untethered isoperimetric soft robot
Nathan S. Usevitch,Zachary M. Hammond,Mac Schwager,Allison M. Okamura,Elliot W. Hawkes,Sean Follmer +5 more
TL;DR: An untethered, inflated robotic truss, composed of thin-walled inflatable tubes, capable of shape change by continuously relocating its joints, while its total edge length remains constant, is reported.
References
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Journal ArticleDOI
A Platform with Six Degrees of Freedom
TL;DR: In this article, the authors describe a six-degree-of-freedom control with six motors, each having a ground abutment, for simulating flight conditions in the training of pilots.
Journal ArticleDOI
A Stewart-Platform based manipulator: general theory and practical construction
TL;DR: The Stewart Platform is one example of a parallel connection robot manipulator as discussed by the authors, and it has been used extensively in the past several years for a variety of tasks in the field of robotics.
Journal ArticleDOI
The kinematics of hyper-redundant robot locomotion
TL;DR: This paper considers the kinematics of hyper-redundant (or "serpentine") robot locomotion over uneven solid terrain, and presents algorithms to implement a variety of "gaits", based on a continuous backbone curve model which captures the robot's macroscopic geometry.
Journal ArticleDOI
Kinematically optimal hyper-redundant manipulator configurations
TL;DR: This paper develops new methods for determining "optimal" hyper-redundant manipulator configurations based on a continuum formulation of kinematics that is computationally efficient on a single processor, and generates solutions in O(1) time for an N degree-of-freedom manipulator when implemented in parallel on O(N) processors.