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A Modular Robotic System Using Magnetic Force Effectors

 

In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07)

Brian Kirby, Burak Aksak, Seth Copen Goldstein, James F. Hoburg, Todd C. Mowry, and Padmanabhan Pillai

October, 2007

Abstract


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@inproceedings{bkirby-iros07,
  author = {Kirby, Brian and Aksak, Burak and Goldstein, Seth Copen
     and Hoburg, James F. and Mowry, Todd C. and Pillai, Padmanabhan},
  title = {A Modular Robotic System Using Magnetic Force Effectors},
  booktitle = {Proceedings of the IEEE International Conference on
     Intelligent Robots and Systems ({IROS '07})},
  venue = {IEEE/RSJ International Conference on Intelligent Robots and
     Systems (IROS)},
  year = {2007},
  month = {October},
  abstract = {One of the primary impediments to building ensembles
     with many modular robots is the complexity and number of
     mechanical mechanisms used to construct the individual modules.
     As part of the Claytronics project---which aims to build very
     large ensembles of modular robots---we investigate how to
     simplify each module by eliminating moving parts and reducing the
     number of mechanical mechanisms on each robot by using
     force-at-a-distance actuators. Additionally, we are also
     investigating the feasibility of using these unary actuators to
     improve docking performance, implement intermodule adhesion,
     power transfer, communication, and sensing.},
  keywords = {Actuation, Adhesion},
  url = {http://www.cs.cmu.edu/~claytronics/papers/bkirby-iros07.pdf},
}

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