articleNov 7, 2002Closed access

PolyBot: a modular reconfigurable robot

MYMark YimDDD.G. DuffKRKimon Roufas

Palo Alto Research Center

Indexed incrossref

Abstract

Modular, self-reconfigurable robots show the promise of great versatility, robustness and low cost. The paper presents examples and issues in realizing those promises. PolyBot is a modular, self-reconfigurable system that is being used to explore the hardware reality of a robot with a large number of interchangeable modules. PolyBot has demonstrated the versatility promise, by implementing locomotion over a variety of terrain and manipulation versatility with a variety of objects. PolyBot is the first robot to demonstrate sequentially two topologically distinct locomotion modes by self-reconfiguration. PolyBot has raised issues regarding software scalability and hardware dependency and as the design evolves…

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678
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100%
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Authors

3

Topics & keywords

Topics
Keywords
  • Modular design
  • Control reconfiguration
  • Robot
  • Scalability
  • Robustness (evolution)
  • Self-reconfiguring modular robot
  • Computer science
  • Reconfigurability
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