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Piranda B.♦, Chodkiewicz P.♦, Hołobut P., Bordas S.P.A.♦, Bourgeois J.♦, Lengiewicz J., Distributed prediction of unsafe reconfiguration scenarios of modular robotic programmable matter,
IEEE TRANSACTIONS ON ROBOTICS, ISSN: 1552-3098, DOI: 10.1109/TRO.2021.3074085, Vol.37, No.6, pp.2226-2233, 2021Streszczenie: We present a distributed framework for predicting whether a planned reconfiguration step of a modular robot will mechanically overload the structure, causing it to break or lose stability under its own weight. The algorithm is executed by the modular robot itself and based on a distributed iterative solution of mechanical equilibrium equations derived from a simplified model of the robot. The model treats intermodular connections as beams and assumes no-sliding contact between the modules and the ground. We also provide a procedure for simplified instability detection. The algorithm is verified in the Programmable Matter simulator VisibleSim, and in real-life experiments on the modular robotic system Blinky Blocks. Słowa kluczowe: distributed algorithms, modular robots, mechanical constraints, programmable matter, self-reconfiguration Afiliacje autorów:
Piranda B. | - | inna afiliacja | Chodkiewicz P. | - | Politechnika Warszawska (PL) | Hołobut P. | - | IPPT PAN | Bordas S.P.A. | - | University of Luxembourg (LU) | Bourgeois J. | - | inna afiliacja | Lengiewicz J. | - | IPPT PAN |
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