Characterization of lattice modular robots by discrete displacement groups

Nicolas Brener , Faïz Ben Amar (1) , Philippe Bidaud (1, 2, 3)

1 ISIR - Institut des Systèmes Intelligents et de Robotique
2 ONERA - The French Aerospace Lab [Palaiseau]
3 SYROCO - Systèmes robotiques Conception et Commande

The paper provides a method to determine and compare the reconfigurability of lattice systems. First it shows the difference that exists between the reconfigurability and self-reconfigurability features of a lattice system. Then a method using displacement groups is introduced to characterize these features. Based on this method, these features are then compared for some existing lattice systems.

Domaines: Automatique / Robotique

Nicolas Brener, Faïz Ben Amar, Philippe Bidaud. Characterization of lattice modular robots by discrete displacement groups. IEEE/IROS Int. Conf. on Robots and Intelligents Systems, 2010, Taipei, Taiwan. pp.1133-1139. ⟨hal-03177936⟩