Connection Mechanism for Autonomous Self-Assembly in Mobile Robots

@article{Delrobaei2009ConnectionMF,
  title={Connection Mechanism for Autonomous Self-Assembly in Mobile Robots},
  author={Mehdi Delrobaei and Kenneth A. McIsaac},
  journal={IEEE Transactions on Robotics},
  year={2009},
  volume={25},
  pages={1413-1419}
}
This paper presents a connection mechanism for autonomous self-assembly in mobile robots. Using this connection mechanism, mobile robots can be autonomously connected and disconnected. The purpose of self-assembly in mobile robotics is to add a new capability to mobile robots, thus, improving their performance to best fit the terrain conditions. Construction of a reconnectable joint is of primary concern in such systems. In this paper, first the geometric conditions and force equations of a… CONTINUE READING

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