System and method for controlling modular robots

Details System and method for controlling modular robots System and method for controlling modular robots

2008-07-15

2008-07-15

Donovan, Lincoln (Department: 2837)

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

C901S001000, C280S408000, C280S472000, C180S014100

Reexamination Certificate

active

07400108

ABSTRACT:
Techniques are described for control of a robot system, wherein the robot system includes a plurality of individual wheeled robot modules interconnected by at least one compliant member. The technique includes developing a kinematic control model of the robot system from a combination of the kinematic characteristics of the individual wheeled robot modules and the stiffness properties of the compliant member. Development of the kinematic control model for a reconfigurable robot system is enhanced by the scalable nature of the technique.

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