| Reference : Distributed Prediction of Unsafe Reconfiguration Scenarios of Modular Robotic Program... |
| Scientific journals : Article | |||
| Engineering, computing & technology : Computer science Engineering, computing & technology : Electrical & electronics engineering Engineering, computing & technology : Mechanical engineering Engineering, computing & technology : Multidisciplinary, general & others | |||
| Computational Sciences; Security, Reliability and Trust | |||
| http://hdl.handle.net/10993/50239 | |||
| Distributed Prediction of Unsafe Reconfiguration Scenarios of Modular Robotic Programmable Matter | |
| English | |
| Piranda, Benoit [CNRS, FEMTO-ST Institute, University of Bourgogne Franche-Comté, Besançon, France] | |
| Chodkiewicz, Paweł [Faculty of Automotive and Construction Machinery Engineering, Warsaw University of Technology, Warsaw, Poland] | |
| Holobut, Paweł [Department of Mechanics of Materials, Institute of Fundamental Technological Research, Polish Academy of Sciences, Warsaw, Poland] | |
Bordas, Stéphane  [University of Luxembourg > Faculty of Science, Technology and Medicine (FSTM) > Department of Engineering (DoE)] | |
| Bourgeois, Julien [CNRS, FEMTO-ST Institute, University of Bourgogne Franche-Comté, Besançon, France] | |
| Lengiewicz, Jakub [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit] | |
| 2021 | |
| IEEE Transactions on Robotics | |
| Institute of Electrical and Electronics Engineers Inc. | |
| 37 | |
| 6 | |
| 2226-2233 | |
| Yes (verified by ORBilu) | |
| International | |
| 15523098 | |
| [en] Distributed algorithms ; Agricultural robots ; Differential equations ; Iterative methods ; Robotics ; Distributed framework ; Instability detections ; Iterative solutions ; Mechanical equilibrium ; Modular robotics ; Programmable matter ; Sliding contacts ; Modular robots | |
| [en] 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. © 2004-2012 IEEE. | |
| 811099, ANR-17-EURE-0002; ANR-15-IDEX-03; Université du Luxembourg; Horizon 2020: 2011/03/D/ST8/04089, 800150, ANR-16-CE33-0022-02 | |
| Researchers ; Professionals | |
| http://hdl.handle.net/10993/50239 | |
| 10.1109/TRO.2021.3074085 | |
| H2020 ; 800150 - MOrPhEM - Mechanics of Programmable Matter |
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