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A simple approach to the control of locomotion in self-reconfigurable robots

✍ Scribed by K. Støy; W.-M. Shen; P.M. Will

Publisher
Elsevier Science
Year
2003
Tongue
English
Weight
271 KB
Volume
44
Category
Article
ISSN
0921-8890

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✦ Synopsis

In this paper we present role-based control which is a general bottom-up approach to the control of locomotion in self-reconfigurable robots. We use role-based control to implement a caterpillar, a sidewinder, and a rolling track gait in the CONRO self-reconfigurable robot consisting of eight modules. Based on our experiments and discussion we conclude that control systems based on role-based control are minimal, robust to communication errors, and robust to reconfiguration.

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