@InProceedings{	  khoshnevis2003highly-compliant-and-self-tightening-docking,
  abstract	= {This paper describes a new docking system, called
		  Compliant-And-Self-Tightening (CAST), developed as an
		  effective and efficient connector for joining and releasing
		  modules of self-reconfigurable or metamorphic robotic
		  systems. CAST has been successfully implemented in CONRO
		  where its highly compliant and passive features have
		  allowed a considerable ease of execution of a variety of
		  docking algorithms, while using no additional energy for
		  docking and negligible amount of energy for undocking.
		  Development of CAST was motivated by observing the
		  difficulty of implementation of an earlier less compliant
		  docking system designed by the authors for CONRO.},
  address	= {Taiwan},
  author	= {Behrokh Khoshnevis and Peter Will and Wei-Min Shen},
  booktitle	= icra-03,
  pages		= {2311--2316},
  title		= {Highly Compliant and Self-Tightening Docking Modules for
		  Precise and Fast Connection of Self-Reconfigurable Robots},
  year		= {2003}
}