An Obstacle-crossing Strategy Based on the Fast Self-reconfiguration for Modular Sphere Robots
Haobo Luo,Ming Li,Guangqi Liang,Huihuan Qian,Tin Lun Lam,Haobo Luo,Ming Li,Guangqi Liang,Huihuan Qian,Tin Lun Lam
This paper introduces an obstacle-crossing strategy, and the self-reconfiguration algorithm for a new class of modular robots called the rolling sphere, which can fit obstacles represented by cubes of different sizes due to the chain connection of multiple spheres. For the self-reconfiguration of the rolling spheres, a large gradient is obtained by classifying its action types and hierarchically m...
