Conference Papers in Robotics/Dynamics Area

Title: Control Strategies and Design Guidelines for Planar Latch-less Metamorphic Robots
Based on Analysis of Dynamics

Authors: Deshpande, A. D., Srinivasa, S. S., and Pillai, P.

Abstract:

Modular robotic systems with no fixed mechanical contacts have the ability to adopt and reconfigure very rapidly,
but are very difficult to control dynamically. Moving module solely with electro-magnetic or -static forces can lead to unwanted slipping or even loss of contact. This paper presents a strategy to design controller for such modules based on the limits derived by combining the contact constraints and the actuator saturation. We demonstrate the design of a simple but effective controller for two module motions. We also present guidelines for the design of the modules based on the controller limitations

Index Terms—modular robots, dynamics and control.