Distributed Prediction of Unsafe Reconfiguration Scenarios of Modular Robotic Programmable Matter
IEEE transactions on robotics(2021)
摘要
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.
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关键词
modular robotic programmable matter,unsafe reconfiguration scenarios,prediction,distributed
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