TY - GEN
T1 - A cuboctahedron module for a reconfigurable robot
AU - Li, Shuguang
AU - Yuan, Jianping
AU - Nigl, Franz
AU - Lipson, Hod
PY - 2010
Y1 - 2010
N2 - We present a concept for a modular robot with a quasi-regular polyhedron based on a cuboctahedron element. Lattice-type modular robots can adapt their morphology by reconfiguring to various shapes. While regular polyhedrons provide the bases of many promising 3D lattice elements, few modular robots have shapes with more than six regular faces. The conceptual design and prototypes of cuboctahedron elements are presented in this paper. To account for the various connecting configurations between robotic modules, we propose a directed graph with three parameters to represent the morphology of such a modular robotic system.
AB - We present a concept for a modular robot with a quasi-regular polyhedron based on a cuboctahedron element. Lattice-type modular robots can adapt their morphology by reconfiguring to various shapes. While regular polyhedrons provide the bases of many promising 3D lattice elements, few modular robots have shapes with more than six regular faces. The conceptual design and prototypes of cuboctahedron elements are presented in this paper. To account for the various connecting configurations between robotic modules, we propose a directed graph with three parameters to represent the morphology of such a modular robotic system.
UR - https://www.scopus.com/pages/publications/78651513840
U2 - 10.1109/IROS.2010.5649958
DO - 10.1109/IROS.2010.5649958
M3 - 会议稿件
AN - SCOPUS:78651513840
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 535
EP - 541
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -