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Title: R-cell: a module for a self-reconfigurable robotic system
Authors: Chatzigeorgiou, Dimitris M.
Kyriakopoulos, Kostas J.
Loizou, Savvas 
Keywords: Actuators;Equations;Strontium;Mobile robots
Issue Date: 2008
Publisher: IEEE
Source: IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, 2008, Pages 895-900
Abstract: In this paper, we introduce the concept of a novel robotic module, the "R-Cell". R-Cell can be utilized in constructing distributed, homogeneous robotic systems. Each R-Cell is a rectangle endowed with: (a) motion capabilities provided by four revolutionary joints, each equipped with a clamping mechanism, and (b) deformation capabilities realized by four prismatic joints. The proposed module provides the resulting modular robotic structures with dexterous deformation and force creating capabilities. The resulting robotic structures are not defacto rigid, but can change shape & form even without any cell-reconfiguration. Our concept could be useful for a great variety of applications encompassing modular robotics like self-assembly, self-repair and reactive shape optimization just to mention a few, that conventional robots cannot accommodate.
ISBN: 978-142442058-2
DOI: 10.1109/IROS.2008.4650956
Rights: ©2008 IEEE
Type: Book Chapter
Appears in Collections:Κεφάλαια βιβλίων/Book chapters

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