MOTION PLANNING FOR HIGHLY REDUNDANT RECONFIGURABLE ROBOTS USING A

CONTINUOUS MODEL

Chris ThorneMEAM 620

University of Pennsylvania3.19.06

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

dssdsK /)()(

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