Abstract
In this paper, we present our latest modular robot “MTRAN” (Modular Transformer) and its motion planning algorithm based on a four-module block method. The developed module is composed of two semi-cylindrical parts connected by a link. Each part has three connecting surfaces where another module can be connected by magnetic force. Each module has only two degrees of freedom, but a group of modules can not only configure static 2-D or 3-D structures but also generate robotic motions. We realized several robotic motions and transformations by using several modules. Block motions prepared by a proposed motion planner are also verified by hardware experiments.
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© 2002 Springer-Verlag Tokyo
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Kamimura, A., Yoshida, E., Murata, S., Kurokawa, H., Tomita, K., Kokaji, S. (2002). A Self-Reconfigurable Modular Robot (MTRAN) — Hardware and Motion Planning Software —. In: Asama, H., Arai, T., Fukuda, T., Hasegawa, T. (eds) Distributed Autonomous Robotic Systems 5. Springer, Tokyo. https://doi.org/10.1007/978-4-431-65941-9_3
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DOI: https://doi.org/10.1007/978-4-431-65941-9_3
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-65943-3
Online ISBN: 978-4-431-65941-9
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