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Mechanical Engineering Commons

Open Access. Powered by Scholars. Published by Universities.®

2008

University of Pennsylvania

Applied Mechanics

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Full-Text Articles in Mechanical Engineering

Automatic Configuration Recognition Methods In Modular Robots, Michael Park, Sachin Chitta, Alex Teichman, Mark Yim Mar 2008

Automatic Configuration Recognition Methods In Modular Robots, Michael Park, Sachin Chitta, Alex Teichman, Mark Yim

Departmental Papers (MEAM)

Recognizing useful modular robot configurations composed of hundreds of modules is a significant challenge. Matching a new modular robot configuration to a library of known configurations is essential in identifying and applying control schemes. We present three different algorithms to address the problem of (a) matching and (b) mapping new robot configurations onto a library of known configurations. The first method solves the problem using graph isomorphisms and can identify configurations that share the same underlying graph structure, but have different port connections amongst the modules. The second approach compares graph spectra of configuration matrices to find a permutation matrix ...