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Abstract : |
Abstract. In this manuscript, we discuss I-Cubes, a class of modular robotic system that is capable of reconfiguring itself in 3-D to adapt to its environment. This is a bipartite system, i.e., a collection of (i) active elements for actuation, and (ii) passive elements acting as connectors. Active elements (links) are 3-DOF manipulators that are capable of attaching/detaching from/to the passive elements (cubes), which can be positioned and oriented using links. Self-reconfiguration capability enables the system to perform locomotion tasks over difficult terrain; the shape and size can be changed according to the task. This paper describes the design of the system, and 3-D reconfiguration properties. Specifics of the hardware implementation, results of the experiments with the current prototypes, our approach to motion planning and problems related to 3-D motion planning are given., |
