1. MOTION PLANNING FOR HIGHLY REDUNDANT RECONFIGURABLE ROBOTS USING A CONTINUOUS MODEL Chris Thorne MEAM 620 University of Pennsylvania 3.19.06

2. Objective Use a continuous model to perform inverse kinematics and path planning for self-reconfiguration of modular robots

3. Modular Robots

4. 3D module model using Matlab

5. Continuous model overview Cuvature, K(s) is the reciprocal of  (s), the radius of the osculating circle Curvature segment: basic unit of continuous model in 2-D Discretized using 5 points, use cubic spline interpolation for curvature function Use curvature operators to move spline control points along the curve and/or Increase/decrease the curvature

6. Example-open space solution