A Novel Strut-type Modular Robotic Structure using Rigid Node

Weibing Li, Robert Richardson, Jongrae Kim


This paper proposes a novel way of constructing strut-type modular robotic structures to avoid some diffi- culties of designing and implementing ideal compliant nodes. Rigid nodes are employed to replace the ideal compliant nodes and to reduce the structural complexity while the feasibility of hardware implementation is dramatically improved. To release some kinematic constraints caused by the rigid nodes, we introduce robotic struts that consist of two prismatic actuators linked by a passive revolute joint. Physics-based robot models are constructed using a robot simulator. A scalable distributed control method is implemented using coupled central pattern generators. And, for comparison, the same control method is applied to conventional and the proposed strut-type modular robotic structures. Simulation results show that the proposed strut-type structures have several advantages over the conventional ones including less number of passive joints and shape-maintenance property.


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Paper Citation

in Harvard Style

Li W., Richardson R. and Kim J. (2016). A Novel Strut-type Modular Robotic Structure using Rigid Node . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-198-4, pages 261-268. DOI: 10.5220/0006004502610268

in Bibtex Style

author={Weibing Li and Robert Richardson and Jongrae Kim},
title={A Novel Strut-type Modular Robotic Structure using Rigid Node},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},

in EndNote Style

JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Novel Strut-type Modular Robotic Structure using Rigid Node
SN - 978-989-758-198-4
AU - Li W.
AU - Richardson R.
AU - Kim J.
PY - 2016
SP - 261
EP - 268
DO - 10.5220/0006004502610268