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Conference Paper: Topological representation and analysis method for multi-port and multi-orientation docking modular robots

TitleTopological representation and analysis method for multi-port and multi-orientation docking modular robots
Authors
KeywordsGraph Theory
Mechatronic Design
Modular Robots
Self-Reconfigurable Robots
Topological Representative
Issue Date2004
PublisherIEEE, Computer Society.
Citation
Proceedings - Ieee International Conference On Robotics And Automation, 2004, v. 2004 n. 3, p. 2210-2215 How to Cite?
AbstractFor MSR Robots to successfully configure from one configuration into another, the control system must be able to visualize the current structure of the robot, which cannot be done without appropriate information about each module's docking status. Although the type of information required to visualize the structure of a MSR robot differs with the physical design of the modules, there are essential information that are commonly required, such as docking orientation and identity of neighboring modules. This paper presents a novel multi-port and multi-orientation modular robot, and a representation method that can uniquely represent the geometric structure of a group of connected modules and to analyze the number of "reconfigurable DOF" within the structure. The proposed method uses labeled planar graphs and incidence matrices to describe the docking status of the modules within the structure, which helps to effectively encode the data in computer understandable expressions. In addition to the work in configuration analysis, an innovative mechanism for detecting the orientation of each docking port is also presented.
Persistent Identifierhttp://hdl.handle.net/10722/46593
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorKo, Aen_HK
dc.contributor.authorLau, TLen_HK
dc.contributor.authorLau, HYKen_HK
dc.date.accessioned2007-10-30T06:53:39Z-
dc.date.available2007-10-30T06:53:39Z-
dc.date.issued2004en_HK
dc.identifier.citationProceedings - Ieee International Conference On Robotics And Automation, 2004, v. 2004 n. 3, p. 2210-2215en_HK
dc.identifier.issn1050-4729en_HK
dc.identifier.urihttp://hdl.handle.net/10722/46593-
dc.description.abstractFor MSR Robots to successfully configure from one configuration into another, the control system must be able to visualize the current structure of the robot, which cannot be done without appropriate information about each module's docking status. Although the type of information required to visualize the structure of a MSR robot differs with the physical design of the modules, there are essential information that are commonly required, such as docking orientation and identity of neighboring modules. This paper presents a novel multi-port and multi-orientation modular robot, and a representation method that can uniquely represent the geometric structure of a group of connected modules and to analyze the number of "reconfigurable DOF" within the structure. The proposed method uses labeled planar graphs and incidence matrices to describe the docking status of the modules within the structure, which helps to effectively encode the data in computer understandable expressions. In addition to the work in configuration analysis, an innovative mechanism for detecting the orientation of each docking port is also presented.en_HK
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dc.format.extent2442 bytes-
dc.format.extent2167 bytes-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypetext/plain-
dc.format.mimetypetext/plain-
dc.languageengen_HK
dc.publisherIEEE, Computer Society.en_HK
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automationen_HK
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.rights©2004 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.en_HK
dc.subjectGraph Theoryen_HK
dc.subjectMechatronic Designen_HK
dc.subjectModular Robotsen_HK
dc.subjectSelf-Reconfigurable Robotsen_HK
dc.subjectTopological Representativeen_HK
dc.titleTopological representation and analysis method for multi-port and multi-orientation docking modular robotsen_HK
dc.typeConference_Paperen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=1050-4729&volume=3&spage=2210&epage=2215&date=2004&atitle=Topological+representation+and+analysis+method+for+multi-port+and+multi-orientation+docking+modular+robotsen_HK
dc.identifier.emailKo, A:albertko@hku.hken_HK
dc.identifier.emailLau, TL:tllau@hkucc.hku.hken_HK
dc.identifier.emailLau, HYK:hyklau@hkucc.hku.hken_HK
dc.identifier.authorityKo, A=rp00124en_HK
dc.identifier.authorityLau, TL=rp00138en_HK
dc.identifier.authorityLau, HYK=rp00137en_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.doi10.1109/ROBOT.2004.1307390en_HK
dc.identifier.scopuseid_2-s2.0-3042676791en_HK
dc.identifier.hkuros85996-
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-3042676791&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.volume2004en_HK
dc.identifier.issue3en_HK
dc.identifier.spage2210en_HK
dc.identifier.epage2215en_HK
dc.publisher.placeUnited Statesen_HK
dc.identifier.scopusauthoridKo, A=22334217900en_HK
dc.identifier.scopusauthoridLau, TL=7102222436en_HK
dc.identifier.scopusauthoridLau, HYK=7201497761en_HK

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