Patrick Ondika

2 accepted papers

2024

Tree-Based Reconfiguration of Metamorphic Robots

IROS 2024poster

Metamorphic robots have gained the attention of many researchers due to their ability to change shape and adapt to various tasks. In order to utilize the versatility of metamorphic systems, we need to be able to find a shape-shifting (reconfiguration) plan efficiently; however, finding these plans i…

Cited by 0 Source ↗Scholar ↗

2023

Tentacle-Based Shape Shifting of Metamorphic Robots Using Fast Inverse Kinematics

Jan Mrázek, Patrick Ondika, Ivana Černá, Jiří Barnat

ICRA 2023poster

We present a new approach to tackle the problem of metamorphic robots' reconfiguration. Given the chain-type metamorphic robot's initial and target configuration, we compute a reconfiguration plan that is provably physically collision-free. Our solution employs a specific heuristic. The robot initia…

Cited by 2 Source ↗Scholar ↗