26 August 1999 Distributed control and computation in a parallel modular robotic system
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New generations of modular and reconfigurable robotic systems with many degrees of freedom can be transformed to achieve different functions, modes of manipulation, and means of mobility resulting in efficient multifunctional systems which adapt to complex environments. The design of modular distributed algorithms and architectures for control of these systems is particularly challenging since kinematic and dynamic performance must be maintained throughout a range of alternative physical reconfigurations. The 'Tetrobot' is a prototype modular system using parallel, variable geometry truss-like mechanisms which can be reconfigured to create moving platforms, walking machines, manipulator arms, a pipe crawler and other devices. Modular algorithms for distributed control and dynamic redundancy resolution of these system will be discussed, and the principles of distributed control for modular systems generalize beyond these specific mechanisms. The resulting Tetrobot system has a range of interesting applications including space robotics, construction, mining, medical, undersea, and flexible manufacturing.
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Woo Ho Lee, Woo Ho Lee, Arthur C. Sanderson, Arthur C. Sanderson, } "Distributed control and computation in a parallel modular robotic system", Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999); doi: 10.1117/12.360340; https://doi.org/10.1117/12.360340


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