Institute of Fundamental Technological Research
Polish Academy of Sciences

Partners

J. Bourgeois


Recent publications
1.  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, pp.1-8, 2021

Abstract:
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.

Keywords:
distributed algorithms, modular robots, mechanical constraints, programmable matter, self-reconfiguration

Affiliations:
Piranda B. - other affiliation
Chodkiewicz P. - Warsaw University of Technology (PL)
Hołobut P. - IPPT PAN
Bordas S.P.A. - University of Luxembourg (LU)
Bourgeois J. - other affiliation
Lengiewicz J. - IPPT PAN

Category A Plus

IPPT PAN

logo ippt            Pawińskiego 5B, 02-106 Warsaw
  +48 22 826 12 81 (central)
  +48 22 826 98 15
 

Find Us

mapka
© Institute of Fundamental Technological Research Polish Academy of Sciences 2021