MOTION PLANNING FOR HIGHLY REDUNDANT RECONFIGURABLE ROBOTS USING A CONTINUOUS MODEL Chris Thorne MEAM 620 University of Pennsylvania 3.19.06.

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Presentation transcript:

MOTION PLANNING FOR HIGHLY REDUNDANT RECONFIGURABLE ROBOTS USING A CONTINUOUS MODEL Chris Thorne MEAM 620 University of Pennsylvania

Objective Use a continuous model to perform inverse kinematics and path planning for self-reconfiguration of modular robots

Modular Robots

3D module model using Matlab

Continuous model overview Cuvature, K(s) is the reciprocal of  (s), the radius of the osculating circle Curvature segment: basic unit of continuous model in 2-D Discretized using 5 points, use cubic spline interpolation for curvature function Use curvature operators to move spline control points along the curve and/or Increase/decrease the curvature

Example-open space solution