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 and Jiří BARNAT

Basic information

Original name

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

Authors

MRÁZEK, Jan (203 Czech Republic, belonging to the institution), Patrick ONDIKA (203 Czech Republic, belonging to the institution), Ivana ČERNÁ (203 Czech Republic, belonging to the institution) and Jiří BARNAT (203 Czech Republic, guarantor, belonging to the institution)

Edition

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

Publisher

IEEE

Other information

Language

English

Type of outcome

Stať ve sborníku

Field of Study

10201 Computer sciences, information science, bioinformatics

Country of publisher

United States of America

Confidentiality degree

není předmětem státního či obchodního tajemství

Publication form

electronic version available online

References:

URL

RIV identification code

RIV/00216224:14330/23:00130220

Organization unit

Faculty of Informatics

ISBN

979-8-3503-2365-8

ISSN

DOI

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

UT WoS

001048371104003

Keywords in English

self-reconfiguration

Abstract

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.

Links

EF16_019/0000822, research and development project

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

MUNI/A/1081/2022, interní kód MU

Name: Modelování, analýza a verifikace (2023)

Investor: Masaryk University

MUNI/A/1433/2022, interní kód MU

Name: Zapojení studentů Fakulty informatiky do mezinárodní vědecké komunity 23

Investor: Masaryk University

Citovat

MRÁZEK, Jan, Patrick ONDIKA, Ivana ČERNÁ and 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, p. 11894-11900. ISBN 979-8-3503-2365-8. Available from: 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 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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