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This paper presents a novel model and controller for a reconfigurable robot designed to enhance area coverage in applications such as cleaning and inspection by allowing it to reconfigure into various shapes beyond predefined options. The proposed robot features a hardware platform with passive hinges and omni-drive mechanisms, enabling it to maintain its shape while navigating obstacles. Experimental results validate the effectiveness of the model and controller in achieving high-level autonomous capabilit

Author

arjunmurmu829

Language

EN