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Enumerating the nonisomorphic assembly configurations of modular robotic systems

Chen, I-Ming and Burdick, Joel W. (1993) Enumerating the nonisomorphic assembly configurations of modular robotic systems. In: Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93). Vol.3. IEEE , Piscataway, NJ, pp. 1985-1992. ISBN 0-7803-0823-9. https://resolver.caltech.edu/CaltechAUTHORS:20190612-081856126

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Abstract

The authors consider how to enumerate the nonisomorphic assembly configurations of a modular robotic system. They introduce an assembly incidence matrix (AIM) to represent a modular robot assembly configuration. Then they use symmetries of the module geometry and graph isomorphisms to define an equivalence relation on the AIMs. Equivalent AIMs represent isomorphic robot assembly configurations. Based on this equivalence relation, the authors propose an algorithm for generating nonisomorphic assembly configurations of an n-link tree-like robot with different joint and link module types. Examples demonstrate that this method offers significant improvement over a brute force enumeration process.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS.1993.583905DOIArticle
Additional Information:© 1993 IEEE. This work was supported by the Caltech President’s fund and NSF Grant MSS-9157843. We would also like to thank Dr. GuiUermo Rodriguez for motivating this work.
Funders:
Funding AgencyGrant Number
Caltech President’s FundUNSPECIFIED
NSFMSS-9157843
Record Number:CaltechAUTHORS:20190612-081856126
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190612-081856126
Official Citation:I. Ming Chen and J. W. Burdick, "Enumerating the nonisomorphic assembly configurations of modular robotic systems," Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), Yokohama, Japan, 1993, pp. 1985-1992 vol.3. doi: 10.1109/IROS.1993.583905
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96309
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:12 Jun 2019 15:24
Last Modified:03 Oct 2019 21:21

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