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@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 and 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, p.~11894-11900. ISBN~979-8-3503-2365-8. Available from: https://dx.doi.org/10.1109/ICRA48891.2023.10160352.
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