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See detailDistributed Prediction of Unsafe Reconfiguration Scenarios of Modular Robotic Programmable Matter
Piranda, Benoit; Chodkiewicz, Paweł; Holobut, Paweł et al

in IEEE Transactions on Robotics (2021), 37(6), 2226-2233

We present a distributed framework for predicting whether a planned reconfiguration step of a modular robot will mechanically overload the structure, causing it to break or lose stability under its own ... [more ▼]

We present a distributed framework for predicting whether a planned reconfiguration step of a modular robot will mechanically overload the structure, causing it to break or lose stability under its own weight. The algorithm is executed by the modular robot itself and based on a distributed iterative solution of mechanical equilibrium equations derived from a simplified model of the robot. The model treats intermodular connections as beams and assumes no-sliding contact between the modules and the ground. We also provide a procedure for simplified instability detection. The algorithm is verified in the Programmable Matter simulator VisibleSim, and in real-life experiments on the modular robotic system Blinky Blocks. © 2004-2012 IEEE. [less ▲]

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