Control Strategies and Design Guidelines for Planar Latch-less Metamorphic RobotsBased on Analysis of Dynamics

@inproceedings{ashish-iros07,
  author = {Deshpande, Ashish and Srinivasa, Siddhartha S. and Pillai,
     Padmanabhan},
  title = {Control Strategies and Design Guidelines for Planar
     Latch-less Metamorphic RobotsBased on Analysis of Dynamics},
  booktitle = {Proceedings of the IEEE International Conference on
     Intelligent Robots and Systems ({IROS '07})},
  venue = {IEEE/RSJ International Conference on Intelligent Robots and
     Systems (IROS)},
  year = {2007},
  month = {October},
  abstract = {Modular robotic systems with no fixed mechanical
     contacts are have the ability to adopt and reconfigure very
     rapidly, but are very difficult to control dynamically. Moving
     module solely with electro-magnetic or -static forces can lead to
     unwanted slipping or even loss of contact. This paper presents a
     strategy to design controller for such modules based on the
     limits derived by combining the contact constraints and the
     actuator saturation. We demonstrate the design of a simple but
     effective controller for two module motions. We also present
     guidelines for the design of the modules based on the controller
     limitations.},
  keywords = {Controlling Nodes},
  url = {http://www.cs.cmu.edu/~claytronics/papers/ashish-iros07.pdf},
}

Related Papers

@inproceedings{ashish-iros07,
  author = {Deshpande, Ashish and Srinivasa, Siddhartha S. and Pillai,
     Padmanabhan},
  title = {Control Strategies and Design Guidelines for Planar
     Latch-less Metamorphic RobotsBased on Analysis of Dynamics},
  booktitle = {Proceedings of the IEEE International Conference on
     Intelligent Robots and Systems ({IROS '07})},
  venue = {IEEE/RSJ International Conference on Intelligent Robots and
     Systems (IROS)},
  year = {2007},
  month = {October},
  abstract = {Modular robotic systems with no fixed mechanical
     contacts are have the ability to adopt and reconfigure very
     rapidly, but are very difficult to control dynamically. Moving
     module solely with electro-magnetic or -static forces can lead to
     unwanted slipping or even loss of contact. This paper presents a
     strategy to design controller for such modules based on the
     limits derived by combining the contact constraints and the
     actuator saturation. We demonstrate the design of a simple but
     effective controller for two module motions. We also present
     guidelines for the design of the modules based on the controller
     limitations.},
  keywords = {Controlling Nodes},
  url = {http://www.cs.cmu.edu/~claytronics/papers/ashish-iros07.pdf},
}