Task-reconfigurable robots: navigators and manipulators

Task-reconfigurable robots consist of a set of one or more identical autonomous modules that can adapt their shape and function to tasks. We describe a module, the Inchworm robot, that can function as a climbing robot, a manipulator, or a leg in a multi-legged walker. This module can make autonomous transitions between these states. We present the control algorithms that enable our robot to be a versatile navigator and manipulator and report on our experimental results.

Authors

• Keith Kotay
• Daniela Rus

Keywords

• Robots
• Navigation
• Manipulators
• Legged locomotion
• Algorithm design and analysis
• Leg
• Shape control
• Robustness
• Computer science
• Educational institutions
• Three-dimensional Structure
• Actuator
• Infrared Imaging
• Autonomic System
• Object Detection
• Relative Orientation
• Robotic System
• Electromagnetic
• Manipulation Tasks
• Extension Phase
• Steel Surface
• Navigation Task
• Contraction Phase
• Attachment Mechanism
• Front Foot
• Touch Sensor
• Navigation Algorithm
• Back Foot
• Rear Foot