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

Chatzigeorgiou, DM; Loizou, SG; Kyriakopoulos, KJ

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	https://dspace.lib.ntua.gr/xmlui/handle/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	http://dx.doi.org/10.1109/IROS.2008.4650956	en
heal.identifier.secondary	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