Smart Locomotion Generation Based On Automatic Orientation And Topology Detection Of A Reconfigurable Modular Robot
Multisensor Fusion and Integration for Intelligent Systems (MFI), 2012 IEEE Conference on - 2014
This paper describes a method to generate locomotion of a modular reconfigurable robot in chainlike configuration based on its topology and orientation. Combined with results from physics simulation efficient locomotion patterns, using optimized control parameters, can be applied to the robot. The resulting locomotion depends highly on the properties of the current configuration of the robot's body and its orientation.
Images and movies
![adaptivePhaseMulti.png [179Ko]](/Publications/2014/KNWZ14/adaptivePhaseMulti.png){kind=small}
BibTex references
@InProceedings\{KNWZ14,
author = "Krupke, Dennis and Noeske, Martin and Wasserfall, Florens and Zhang, Jianwei",
title = "Smart Locomotion Generation Based On Automatic Orientation And Topology Detection Of A Reconfigurable Modular Robot",
booktitle = "Multisensor Fusion and Integration for Intelligent Systems (MFI), 2012 IEEE Conference on",
series = "Conference Proceedings of MFI 2014",
year = "2014",
url = "http://basilic.informatik.uni-hamburg.de/Publications/2014/KNWZ14"
}