Representation and shape estimation of Odin, a parallel under-actuated modular robot

Andreas Lyder, Henrik Gordon Petersen, Kasper Støy

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

To understand the capabilities and behavior of a robot it is important to have knowledge about its physical structure and how its actuators control its shape. In this paper we analyze the kinematics and develop a general representation of a configuration of the heterogeneous modular robot Odin. The basics of estimating the shape of the Odin robot is presented, which leads the way for further research on the Odin robot and similar robots. We present an example of how to represent and estimate the shape of a tetrahedron configuration with various types of modules. We conclude that this representation can be used to find the physical constraints of the Odin robot and estimate the shape of a configuration.
Original languageEnglish
Title of host publicationProceedings of the RSJ/IEEE International Conference on Intelligent Robots and Systems
Number of pages6
PublisherIEEE Press
Publication date2009
Pages5275-5280
ISBN (Print)978-1-4244-3803-7
DOIs
Publication statusPublished - 2009
EventIEEE/RSJ International Conference on Intelligent Robots and Systems - St. Louis, MO, United States
Duration: 10. Oct 200915. Oct 2009

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CitySt. Louis, MO
Period10/10/200915/10/2009

Fingerprint

Modular robots
Robots
Kinematics
Actuators

Cite this

Lyder, A., Petersen, H. G., & Støy, K. (2009). Representation and shape estimation of Odin, a parallel under-actuated modular robot. In Proceedings of the RSJ/IEEE International Conference on Intelligent Robots and Systems (pp. 5275-5280). IEEE Press. https://doi.org/10.1109/IROS.2009.5354695
Lyder, Andreas ; Petersen, Henrik Gordon ; Støy, Kasper. / Representation and shape estimation of Odin, a parallel under-actuated modular robot. Proceedings of the RSJ/IEEE International Conference on Intelligent Robots and Systems. IEEE Press, 2009. pp. 5275-5280
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Lyder, A, Petersen, HG & Støy, K 2009, Representation and shape estimation of Odin, a parallel under-actuated modular robot. in Proceedings of the RSJ/IEEE International Conference on Intelligent Robots and Systems. IEEE Press, pp. 5275-5280, IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, United States, 10/10/2009. https://doi.org/10.1109/IROS.2009.5354695

Representation and shape estimation of Odin, a parallel under-actuated modular robot. / Lyder, Andreas; Petersen, Henrik Gordon; Støy, Kasper.

Proceedings of the RSJ/IEEE International Conference on Intelligent Robots and Systems. IEEE Press, 2009. p. 5275-5280.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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Lyder A, Petersen HG, Støy K. Representation and shape estimation of Odin, a parallel under-actuated modular robot. In Proceedings of the RSJ/IEEE International Conference on Intelligent Robots and Systems. IEEE Press. 2009. p. 5275-5280 https://doi.org/10.1109/IROS.2009.5354695