@inproceedings{496883dc601649ddad6a331868e3471e,
title = "Snapbot V2: A reconfigurable legged robot with a camera for self configuration recognition",
abstract = "In this paper, we present the second version of a reconfigurable modular legged robot, Snapbot V2. The mechanical design of Snapbot V2 is enhanced for better dynamic performance and robust connection with modular legs. A motion generator for locomotion is developed to achieve various locomotion skills in one to six-leg configurations. The locomotion is tested on a multi-body dynamic simulation model and implemented on a physical robot as well. A visual detection is implemented with a camera module to recognize the robot's configuration. By detecting the particular color of the parts at the leg module, the robot can recognize the number and location of the connected legs. Based on the recognized configuration, Snapbot V2 selects the proper locomotion style automatically.",
author = "Gim, \{Kevin G.\} and Joohyung Kim",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 ; Conference date: 24-10-2020 Through 24-01-2021",
year = "2020",
month = oct,
day = "24",
doi = "10.1109/IROS45743.2020.9341279",
language = "English (US)",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "4026--4031",
booktitle = "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020",
address = "United States",
}