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Self-Reconfigurable Robots An Introduction

ISBN-10: 0262013711

ISBN-13: 9780262013710

Edition: 2010

Authors: Kasper St�y, David Brandt, David J. Christensen, Ronald C. Arkin

List price: $40.00
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Self-reconfigurable robots are constructed of robotic modules that can be connected in many different ways. These modules move in relationship to each other, which allows the robot as a whole to change shape. This shapeshifting makes it possible for the robots to adapt and optimize their shapes for different tasks. Thus, a self-reconfigurable robot can first assume the shape of a rolling track to cover distance quickly, then the shape of a snake to explore a narrow space, and finally the shape of a hexapod to carry an artifact back to the starting point. The field of self-reconfigurable robots has seen significant progress over the last twenty years, and this book collects and synthesizes existing research previously only available in widely scattered individual papers, offering an accessible guide to the latest information on self-reconfigurable robots for researchers and students interested in the field. Self-Reconfigurable Robotsfocuses on conveying the intuition behind the design and control of self-reconfigurable robots rather than technical details. Suggestions for further reading refer readers to the underlying sources of technical information. The book includes descriptions of existing robots and a brief history of the field; discussion of module design considerations, including module geometry, connector design, and computing and communication infrastructure; an in-depth presentation of strategies for controlling self-reconfiguration and locomotion; and exploration of future research challenges. Intelligent Robotics and Autonomous Agents series
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Book details

List price: $40.00
Copyright year: 2010
Publisher: MIT Press
Publication date: 1/29/2010
Binding: Hardcover
Pages: 224
Size: 7.25" wide x 9.50" long x 0.75" tall
Weight: 1.232
Language: English

David Brandt is a postdoctoral researcher at the Maersk Mc-Kinney Moller Institute.

Ronald C. Arkin is Professor and Director of the Mobile Robot Laboratory, College of Computing, Georgia Institute of Technology.

Self-Reconfigurable Robots
What Is a Self-Reconfigurable Robot?
Brief History
Pack, Herd, and Swarm Robots
From Vision to Application
Structure of this Book
Further Reading
Designing Self-Reconfigurable Robots
Robot Design
Design Goals
Self-Reconfigurable Robots and Conventional Robots
Characteristics of Solutions Based on Self-Reconfigurable Robots
The Use of Design Goals
Further Reading
Mechanical Design of Self-Reconfigurable Robots
Types of Self-Reconfigurable Robots
Lattice Structure and Module Geometry
Connector Design
Alternative Implementations
Further Reading
Electrical Design of Self-Reconfigurable Robots
Computing and Communication Infrastructure
Further Reading
The Self-Reconfiguration Problem
Formulating the Problem
Why Is the Self-Reconfiguration Problem Difficult?
Simplifications of the Self-Reconfiguration Problem
Further Reading
Self-Reconfiguration as Search
Configuration Representation
Search Space Considerations
Informed Search
A Successful Search Requires Simplifications
From Solution to Control
On-Line Distributed Search
From Impossible to Simple
Further Reading
Self-Reconfiguration as Control
Movement Strategy
Representation of the Goal Configuration
Docking and Merging
Making Ends Meet
Further Reading
Task-Driven Self-Reconfiguration
Locomotion through Self-Reconfiguration
Task-Driven Growth
Self-Reconfiguration as a Side Effect
New Challenges in Self-Reconfiguration
Further Reading
Control in Fixed Configurations
Further Reading
Research Challenges
Facing the Complexity of Real Tasks
From Basic Functionalities to Behaviors
Behavior Adaptation
Behavior Selection
Behavior Mode
Behavior-Based Robotics as a Framework
Application-Oriented Hardware
Further Reading
Appendix: A Simulator for Self-Reconfigurable Robots