R-cell: A module for a self-reconfigurable robotic system

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dc.contributor.author Chatzigeorgiou, DM en
dc.contributor.author Loizou, SG en
dc.contributor.author Kyriakopoulos, KJ en
dc.date.accessioned 2014-03-01T02:45:46Z
dc.date.available 2014-03-01T02:45:46Z
dc.date.issued 2008 en
dc.identifier.uri http://hdl.handle.net/123456789/32374
dc.subject Deformation en
dc.subject Force-creating capabilities en
dc.subject Modular robotic system en
dc.subject Self-reconfiguration en
dc.subject.other Clamping mechanism en
dc.subject.other Conventional robots en
dc.subject.other Deformation capability en
dc.subject.other Force-creating capabilities en
dc.subject.other Modular robotic system en
dc.subject.other Modular robotics en
dc.subject.other Prismatic joint en
dc.subject.other Robotic modules en
dc.subject.other Robotic structures en
dc.subject.other Robotic systems en
dc.subject.other Self-assembly en
dc.subject.other Self-reconfigurable en
dc.subject.other Self-reconfiguration en
dc.subject.other Self-repair en
dc.subject.other Cell membranes en
dc.subject.other Deformation en
dc.subject.other Intelligent robots en
dc.subject.other Modular robots en
dc.subject.other Robotic assembly en
dc.subject.other Shape optimization en
dc.subject.other Robotics en
dc.title R-cell: A module for a self-reconfigurable robotic system en
heal.type conferenceItem en
heal.identifier.primary 10.1109/IROS.2008.4650956 en
heal.identifier.secondary 4650956 en
heal.identifier.secondary http://dx.doi.org/10.1109/IROS.2008.4650956 en
heal.publicationDate 2008 en
heal.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. ©2008 IEEE. en
heal.journalName 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS en
dc.identifier.doi 10.1109/IROS.2008.4650956 en
dc.identifier.spage 895 en
dc.identifier.epage 900 en

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