Skip to content

Self-Reconfigurable Robots An Introduction

Spend $50 to get a free DVD!

ISBN-10: 0262013711

ISBN-13: 9780262013710

Edition: 2010

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

List price: $40.00
Blue ribbon 30 day, 100% satisfaction guarantee!
what's this?
Rush Rewards U
Members Receive:
Carrot Coin icon
XP icon
You have reached 400 XP and carrot coins. That is the daily max!


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…    
Customers also bought

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