Document Type
Event
Keywords
Robotics, modular, reconfigurable, design, gait.
Description
Second generation self-reconfigurable modular robotic system Xanthus developed at FIU is presented in this paper. The robot is capable of self-reconfiguring its mechanical structure for efficient walking and crawling as the previous version. In addition, the current version is able to reconfigure and roll conforming to the terrain. In both versions, changing modes is accomplished without human intervention. This work addresses mechanical design, hardware, control and software development for all- terrain navigation. Algorithms for quadruped walking, crawling and rolling are generated and tested on the prototype.
DOI
https://doi.org/10.5038/QZQG1393
Xanthus: Self-Reconfigurable Modular Robot
Second generation self-reconfigurable modular robotic system Xanthus developed at FIU is presented in this paper. The robot is capable of self-reconfiguring its mechanical structure for efficient walking and crawling as the previous version. In addition, the current version is able to reconfigure and roll conforming to the terrain. In both versions, changing modes is accomplished without human intervention. This work addresses mechanical design, hardware, control and software development for all- terrain navigation. Algorithms for quadruped walking, crawling and rolling are generated and tested on the prototype.
