A cognitive architecture for modular and self-reconfigurable robots

Levi, Paul; Meister, Eugen; Rossum, A.C. van; Krajník, Tomáš; Vonásek, Vojtĕch; Štěpán, Petr; Liu, W.; Caparrelli, Fabio

doi:10.1109/syscon.2014.6819298

Cited by 10 publications

(3 citation statements)

References 18 publications

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“…Motion of modular robots can be achieved using selfreconfiguration [12], [14], dedicated actuators [9], [10]. or using joint-controlled locomotion.…”

Section: Related Workmentioning

confidence: 99%

Online motion planning for failure recovery of modular robotic systems

Vonásek

Neumann²,

Oertel³

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Modular robots are built of many basic robotic modules that can be connected into robots of various shapes. These robots are able to recover from a failure by ejecting and replacing damaged modules. Although this type of failure recovery is usually suggested in literature, it may be precluded due inability of the broken modules to cooperate or if no spare modules are available. In such a case, locomotion of a damaged robot should be adapted to allow the robot to reach a repair station or even to finish its task without the need to exchange the broken modules. In this paper, we investigate how to adapt motions of modular robots with respect to failures using the concept of motion planning with motion primitives. The ability of the proposed system to recover from failures is verified in a simulation and also in a HW experiment.

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“…Motion of modular robots can be achieved using selfreconfiguration [12], [14], dedicated actuators [9], [10]. or using joint-controlled locomotion.…”

Section: Related Workmentioning

confidence: 99%

Online motion planning for failure recovery of modular robotic systems

Vonásek

Neumann²,

Oertel³

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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“…3D modular self-reconfigurable robot swarms are a fascinating technology that offers many advantages over traditional robots (13)(14)(15). However, most modern modular self-reconfigurable systems either lack individual mobility or are primarily restricted to operating in controlled indoor environments (16)(17)(18)(19)(20)(21)(22)(23)(24)(25)(26)(27). When designed for large-scale deployment in outdoor settings, reconfigurable terrestrial robot swarms possess considerable potential for use in unstructured environments.…”

Section: Introductionmentioning

confidence: 99%

Snail robots as a new paradigm for swarm robotics in unstructured environments

zhao,

Luo,

et al. 2023

Preprint

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Terrestrial robot swarms that can self-reconfigure offer adaptable solutions for various tasks and environments. However, most existing terrestrial robot swarms remain confined to controlled indoor environments. We introduce a novel 3D terrestrial snail robotic swarm system inspired by the morphological attributes of land snails, specifically engineered for unstructured environments. Contemporary reconfigurable terrestrial robotic swarms rely on free connections for adaptability and scalability. Unfortunately, these mechanisms often compromise stability or are time-intensive in reconfiguration. Addressing these limitations, we present a hybrid-connection system that integrates two distinct modes, drawing inspiration from the unique adhesive mechanisms of land snails. The free mode, mirroring a snail's routine locomotion, leverages magnet-embedded tracks to create a medium-stability connection with an iron spherical shell. This facilitates crucial movements such as sliding, yawing, and transitioning amongst other robots, thereby augmenting the swarm's configurational adaptability and operational efficiency. In contrast, the strong mode, analogous to a snail's enhanced suction response when disturbed, utilizes an active vacuum sucker with directional polymer stalks. This mode provides robust adhesion to the spherical shell, establishing high stability for fixed configurations. The system expertly balances mobility and secure connection needs by assigning specific functions to each mode. Our outdoor experiments highlight not only the advanced capabilities of individual snail robot units but also the exceptional synergy within the swarm, effectively demonstrating its proficiency in navigating diverse terrains and executing manipulative tasks. This research propels the evolution of terrestrial robotic swarms, widening the horizons for their real-world applications, particularly in unstructured outdoor environments.

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“…Modular systems are classified into two basic categories: homogenous and heterogeneous [1]. Homogenous systems are characterized by containing the same modules, which ensures their easy interchangeability.…”

Section: Introductionmentioning

confidence: 99%

Mobile Chassis on a Modular Principle

Konečný

Široký

Krys

et al. 2015

AMM

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The article describes design of a drive module of a modular mobile chassis. This chassis was developed at the Department of Robotics, Faculty of Mechanical Engineering, VŠB-Technical University of Ostrava, as a part of the student grant competition “Research and development of modular robotic systems.” The article describes variants and the final mechanical construction of the drive module and also the structural analysis of this module according to the possible positioning in the whole modular system. The obtained results and possible ways of additional future development and modifications of the module are summarized in the conclusion.

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A cognitive architecture for modular and self-reconfigurable robots

Cited by 10 publications

References 18 publications

Online motion planning for failure recovery of modular robotic systems

Online motion planning for failure recovery of modular robotic systems

Snail robots as a new paradigm for swarm robotics in unstructured environments

Mobile Chassis on a Modular Principle

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