Modular self-reconfigurable robot systems - Challenges and opportunities for the future

被引：739

作者：

Yim, Mark

Shen, Wei-Min

Salemi, Behnam

Rus, Daniela

Moll, Mark

Lipson, Hod

Klavins, Eric

Chirikjian, Gregory S.

机构：

[1] Univ Penn, Dept Mech Engn & Appl Mech, Philadelphia, PA 19104 USA

[2] Xerox Corp, Palo Alto Res Ctr, Palo Alto, CA 94304 USA

[3] USC, Inst Informat Sci, Polymorph Robot Lab, Los Angeles, CA USA

[4] USC, Ctr Robot & Embedded Syst, Los Angeles, CA USA

[5] MIT, Dept EECS, Cambridge, MA 02139 USA

[6] Dartmouth Coll, Dept Comp Sci, Hanover, NH 03755 USA

[7] Univ So Calif, Inst Informat Sci, Marina Del Rey, CA 90292 USA

[8] Cornell Univ, Dept Mech & Aerosp Engn, Ithaca, NY USA

[9] Cornell Univ, Fac Comp & Informat Sci, Ithaca, NY USA

[10] Brandeis Univ, Dept Comp Sci, Waltham, MA 02254 USA

[11] MIT, Dept Engn Mech, Cambridge, MA 02139 USA

[12] Univ Washington, Seattle, WA 98195 USA

[13] CALTECH, Control & Dynam Syst Dept, Pasadena, CA 91125 USA

来源：

IEEE ROBOTICS & AUTOMATION MAGAZINE | 2007年 / 14卷 / 01期

关键词：

modular; self-reconfigurable; self-reconfiguring; robot; grand challenges;

D O I：

10.1109/MRA.2007.339623

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Modular self-reconfigurable systems promise significant technological advances to the field of robotics in general. Specifically, their promise of high versatility, high value and high robustness lead to a radical change in automation. Currently, a number of researchers are addressing many of the challenges. Some of these challenges include increasing the number of modular robots, self-repairing systems, self-sustaining systems, robotic self-replication and self-extension and reconciliation with thermodynamics. While some progress has been made, many challenges still exist.

引用

页码：43 / 52

页数：10

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