Proceedings Article10.1109/ICMA.2012.6283240
Multisensor-based autonomous docking for UBot modular reconfigurable robot
Pijun Liu,Yanhe Zhu,Xindan Cui,Xiaolu Wang,Jihong Yan,Jie Zhao +5 more
- 27 Aug 2012
- pp 772-776
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TL;DR: A new sensor module for the UBot self-reconfigurable robot system is developed, and a novel docking method for precise docking between module group with the sensor module and the target module is proposed.
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Abstract: Autonomous docking is still a major challenge for self-reconfigurable robots, it is an essential capability for the system to realize reconstruction, self-repairing and even for completing operational tasks in the complex environment. In this paper, we developed a new sensor module for the UBot self-reconfigurable robot system, and proposed a novel docking method for precise docking between module group with the sensor module and the target module. We describe this automated docking progress as three steps: The visual pre-positioning process; Precise positioning through hall sensors; Crawling and self-locking by the hook-type connecting systems. Finally, this method is proved to be effective by the S-4 module group automatic docking experiment.
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Citations
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