Tentacle-Based Shape Shifting of Metamorphic Robots Using Fast Inverse Kinematics

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216224%3A14330%2F23%3A00130220" target="_blank" >RIV/00216224:14330/23:00130220 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/ICRA48891.2023.10160352" target="_blank" >https://doi.org/10.1109/ICRA48891.2023.10160352</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICRA48891.2023.10160352" target="_blank" >10.1109/ICRA48891.2023.10160352</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Tentacle-Based Shape Shifting of Metamorphic Robots Using Fast Inverse Kinematics

Popis výsledku v původním jazyce

We present a new approach to tackle the problem of metamorphic robots’ reconfiguration. Given the chain-type metamorphic robot’s initial and target configuration, we compute a reconfiguration plan that is provably physically collisionfree. Our solution employs a specific heuristic. The robot initially reconfigures to a shape that resembles an octopus with many tentacles. After that, the tentacles gradually reconnect to each other using inverse kinematics, separating one tentacle from the body and keeping the other one connected. This strategy eventually leads to a snake-like structure of the robot. For the target configuration, we compute the reconfiguration plan with the same procedure, however, we reverse the plan to reconfigure the robot from the snake-like structure to the target shape. According to our experimental evaluation, our newly introduced strategy for finding reconfiguration plans is successful. It efficiently finds collision-free plans even for robots consisting of hundreds of modules.

Název v anglickém jazyce

Tentacle-Based Shape Shifting of Metamorphic Robots Using Fast Inverse Kinematics

Popis výsledku anglicky

We present a new approach to tackle the problem of metamorphic robots’ reconfiguration. Given the chain-type metamorphic robot’s initial and target configuration, we compute a reconfiguration plan that is provably physically collisionfree. Our solution employs a specific heuristic. The robot initially reconfigures to a shape that resembles an octopus with many tentacles. After that, the tentacles gradually reconnect to each other using inverse kinematics, separating one tentacle from the body and keeping the other one connected. This strategy eventually leads to a snake-like structure of the robot. For the target configuration, we compute the reconfiguration plan with the same procedure, however, we reverse the plan to reconfigure the robot from the snake-like structure to the target shape. According to our experimental evaluation, our newly introduced strategy for finding reconfiguration plans is successful. It efficiently finds collision-free plans even for robots consisting of hundreds of modules.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/EF16_019%2F0000822" target="_blank" >EF16_019/0000822: Centrum excelence pro kyberkriminalitu, kyberbezpečnost a ochranu kritických informačních infrastruktur</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2023

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

2023 IEEE International Conference on Robotics and Automation (ICRA)

ISBN

9798350323658

ISSN

1050-4729

e-ISSN

—

Počet stran výsledku

7

Strana od-do

11894-11900

Název nakladatele

IEEE

Místo vydání

London

Místo konání akce

London

Datum konání akce

1. 1. 2023

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

001048371104003