This paper describes a method to generate locomotion of a modular reconfigurable robot in chainlike configuration based on its topology and orientation. Combined with results from physics simulation efficient locomotion patterns, using optimized control parameters, can be applied to the robot. The resulting locomotion depends highly on the properties of the current configuration of the robot's body and its orientation.
This paper describes a method to generate locomotion of a modular reconfigurable robot in chainlike configuration based on its topology and orientation. Combined with results from physics simulation efficient locomotion patterns, using optimized control parameters, can be applied to the robot. The resulting locomotion depends highly on the properties of the current configuration of the robot's body and its orientation.