Modeling the fractal development of modular robots

Author:

Bie Dongyang1,Liu Gangfeng1,Zhang Yu1,Zhao Jie1,Zhu Yanhe1

Affiliation:

1. State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, P.R. China

Abstract

Modeling and controlling self-reconfiguration of modular robots is still a challenging problem in the field of distributed control. The two main constrains are the design of target shapes and the absence of global state for decentralized modules. We present a new way for those two problems inspired from the developmental process of plant growth. As a mathematical theory of plant development, L-systems capture the essence of growth process. We extend L-systems to the self-reconfiguration process of modules robots. Target configurations will be described in a string of symbols, and robotic structures capture fractal characters through the rewriting function. Extended graphical interpretation of L-system symbols can generate module-level predictions about robotic global states. Simulations of different self-reconfiguration processes illustrate the proposed method.

Publisher

SAGE Publications

Subject

Mechanical Engineering

Cited by 5 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. A Non-planar Assembly of Modular Tetrahedral-shaped Aerial Robots;2023 IEEE International Conference on Robotics and Automation (ICRA);2023-05-29

2. Achievements and future directions in self‐reconfigurable modular robotic systems;Journal of Field Robotics;2022-12-13

3. Modeling and Experimental Validation of a Fractal Tetrahedron UAS Assembly;2020 IEEE Aerospace Conference;2020-03

4. The Method of the Kinematic Structure Reconfiguration of a Multifunctional Modular Robot Based on the Greedy Algorithm;2019 12th International Conference on Developments in eSystems Engineering (DeSE);2019-10

5. Natural Growth-Inspired Distributed Self-Reconfiguration of UBot Robots;Complexity;2019-01-02

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