Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/78588
Title: SELF RECONFIGURABLE MODULAR ROBOT.
Authors: CHANG FANXI FRANCIS
Keywords: Self,Reconfigurable,Robot,Modular,Genetic,Algorithm
Issue Date: 19-Dec-2013
Source: CHANG FANXI FRANCIS (2013-12-19). SELF RECONFIGURABLE MODULAR ROBOT.. ScholarBank@NUS Repository.
Abstract: The ?Evolve? system developed in 2008 is the first National University of Singapore (NUS) modular robots. While conventional robots have fixed morphology, a modular robot system is capable of having variable morphology. In the family of modular robotics, Evolve is classified as a configurable robotics system. Evolve lacks autonomous reconfigurability, hence it is unable to change its shape to suit the environment and task. The primary aim of this work is to develop a Self-reconfigurable modular robot. The second generation Evolve system will be named Evolve Generation 2, it is equipped with a controllable docking surface that allows autonomous reconfiguration. Subsequently, the basic locomotion generation is performed using genetic algorithm. The thesis focuses on the design and construction of Evolve hardware, analysis and implementation of different sub-systems that are required for self-reconfigurability. Genetic algorithm is applied to generate basic locomotion to any given module configuration without the need for deterministic locomotion planning.
URI: http://scholarbank.nus.edu.sg/handle/10635/78588
Appears in Collections:Master's Theses (Open)

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