TY - GEN
T1 - Dynamic Modeling and Locomotion Control of Reconfigurable Robot Smorphi
AU - Prakash, Ashish
AU - Meena, Gagan Deep
AU - Hayat, Abdullah Aamir
N1 - Publisher Copyright:
© 2023 ACM.
PY - 2023/7/5
Y1 - 2023/7/5
N2 - Smorphi is a shape-changing robot that can take seven different shapes. This feature makes it capable of performing tasks in narrow spaces. The paper presents a modeling and locomotion control method for Smorphi. The dynamics of Smorphi for a particular configuration are obtained using the Euler-Lagrange method. A direct synthesis controller is used to track the angular velocity of the wheels of each block of the shape-changing robot. Simulation results for the control of the proposed configuration are presented, compared, and discussed.
AB - Smorphi is a shape-changing robot that can take seven different shapes. This feature makes it capable of performing tasks in narrow spaces. The paper presents a modeling and locomotion control method for Smorphi. The dynamics of Smorphi for a particular configuration are obtained using the Euler-Lagrange method. A direct synthesis controller is used to track the angular velocity of the wheels of each block of the shape-changing robot. Simulation results for the control of the proposed configuration are presented, compared, and discussed.
KW - DH Parameters
KW - Euler-Lagrange dynamics;
KW - Kinematic and dynamic model
KW - Reconfigurable robots
UR - https://www.scopus.com/pages/publications/85179885096
UR - https://www.scopus.com/inward/citedby.url?scp=85179885096&partnerID=8YFLogxK
U2 - 10.1145/3610419.3610462
DO - 10.1145/3610419.3610462
M3 - Conference contribution
AN - SCOPUS:85179885096
T3 - ACM International Conference Proceeding Series
BT - Proceedings of 2023 6th International Conference on Advances in Robotics, AIR 2023
PB - Association for Computing Machinery
T2 - 6th International Conference on Advances in Robotics, AIR 2023
Y2 - 5 July 2023 through 8 July 2023
ER -