Tentacle-Based Shape Shifting of Metamorphic Robots Using Fast
Inverse Kinematics

D 2023

Tentacle-Based Shape Shifting of Metamorphic Robots Using Fast Inverse Kinematics

MRÁZEK, Jan, Patrick ONDIKA, Ivana ČERNÁ a Jiří BARNAT

Základní údaje

Originální název

Tentacle-Based Shape Shifting of Metamorphic Robots Using Fast Inverse Kinematics

Autoři

MRÁZEK, Jan (203 Česká republika, domácí), Patrick ONDIKA (203 Česká republika, domácí), Ivana ČERNÁ (203 Česká republika, domácí) a Jiří BARNAT (203 Česká republika, garant, domácí)

Vydání

London, 2023 IEEE International Conference on Robotics and Automation (ICRA), od s. 11894-11900, 7 s. 2023

Nakladatel

IEEE

Další údaje

Jazyk

angličtina

Typ výsledku

Stať ve sborníku

Obor

10201 Computer sciences, information science, bioinformatics

Stát vydavatele

Spojené státy

Utajení

není předmětem státního či obchodního tajemství

Forma vydání

elektronická verze "online"

Odkazy

URL

Kód RIV

RIV/00216224:14330/23:00130220

Organizační jednotka

Fakulta informatiky

ISBN

979-8-3503-2365-8

ISSN

DOI

http://dx.doi.org/10.1109/ICRA48891.2023.10160352

UT WoS

001048371104003

Klíčová slova anglicky

self-reconfiguration

Štítky

core_A, firank_1

Příznaky

Mezinárodní význam, Recenzováno

Změněno: 8. 4. 2024 15:37, RNDr. Pavel Šmerk, Ph.D.

Anotace

V originále

We present a new approach to tackle the problem of metamorphic robots’ reconfiguration. Given the chain-type metamorphic robot’s initial and target configuration, we compute a reconfiguration plan that is provably physically collisionfree. Our solution employs a specific heuristic. The robot initially reconfigures to a shape that resembles an octopus with many tentacles. After that, the tentacles gradually reconnect to each other using inverse kinematics, separating one tentacle from the body and keeping the other one connected. This strategy eventually leads to a snake-like structure of the robot. For the target configuration, we compute the reconfiguration plan with the same procedure, however, we reverse the plan to reconfigure the robot from the snake-like structure to the target shape. According to our experimental evaluation, our newly introduced strategy for finding reconfiguration plans is successful. It efficiently finds collision-free plans even for robots consisting of hundreds of modules.

Návaznosti

EF16_019/0000822, projekt VaV

Název: Centrum excelence pro kyberkriminalitu, kyberbezpečnost a ochranu kritických informačních infrastruktur

MUNI/A/1081/2022, interní kód MU

Název: Modelování, analýza a verifikace (2023)

Investor: Masarykova univerzita, Modelování, analýza a verifikace (2023)

MUNI/A/1433/2022, interní kód MU

Název: Zapojení studentů Fakulty informatiky do mezinárodní vědecké komunity 23

Investor: Masarykova univerzita, Zapojení studentů Fakulty informatiky do mezinárodní vědecké komunity 23

Citovat

MRÁZEK, Jan, Patrick ONDIKA, Ivana ČERNÁ a Jiří BARNAT. Tentacle-Based Shape Shifting of Metamorphic Robots Using Fast Inverse Kinematics. Online. In 2023 IEEE International Conference on Robotics and Automation (ICRA). London: IEEE, 2023, s. 11894-11900. ISBN 979-8-3503-2365-8. Dostupné z: https://dx.doi.org/10.1109/ICRA48891.2023.10160352.

@inproceedings{2249394,
   author = {Mrázek, Jan and Ondika, Patrick and Černá, Ivana and Barnat, Jiří},
   address = {London},
   booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
   doi = {http://dx.doi.org/10.1109/ICRA48891.2023.10160352},
   keywords = {self-reconfiguration},
   howpublished = {elektronická verze "online"},
   language = {eng},
   location = {London},
   isbn = {979-8-3503-2365-8},
   pages = {11894-11900},
   publisher = {IEEE},
   title = {Tentacle-Based Shape Shifting of Metamorphic Robots Using Fast Inverse Kinematics},
   url = {https://doi.org/10.1109/ICRA48891.2023.10160352},
   year = {2023}
}

TY  - JOUR
ID  - 2249394
AU  - Mrázek, Jan - Ondika, Patrick - Černá, Ivana - Barnat, Jiří
PY  - 2023
TI  - Tentacle-Based Shape Shifting of Metamorphic Robots Using Fast Inverse Kinematics
PB  - IEEE
CY  - London
SN  - 9798350323658
KW  - self-reconfiguration
UR  - https://doi.org/10.1109/ICRA48891.2023.10160352
N2  - We present a new approach to tackle the problem of metamorphic robots’ reconfiguration. Given the chain-type metamorphic robot’s initial and target configuration, we compute a reconfiguration plan that is provably physically collisionfree. Our solution employs a specific heuristic. The robot initially reconfigures to a shape that resembles an octopus with many tentacles. After that, the tentacles gradually reconnect to each other using inverse kinematics, separating one tentacle from the body and keeping the other one connected. This strategy eventually leads to a snake-like structure of the robot. For the target configuration, we compute the reconfiguration plan with the same procedure, however, we reverse the plan to reconfigure the robot from the snake-like structure to the target shape. According to our experimental evaluation, our newly introduced strategy for finding reconfiguration plans is successful. It efficiently finds collision-free plans even for robots consisting of hundreds of modules.
ER  -

MRÁZEK, Jan, Patrick ONDIKA, Ivana ČERNÁ a Jiří BARNAT. Tentacle-Based Shape Shifting of Metamorphic Robots Using Fast Inverse Kinematics. Online. In \textit{2023 IEEE International Conference on Robotics and Automation (ICRA)}. London: IEEE, 2023, s.~11894-11900. ISBN~979-8-3503-2365-8. Dostupné z: https://dx.doi.org/10.1109/ICRA48891.2023.10160352.

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