A review of coupling mechanism designs for modular reconfigurable robots

Abstract

SUMMARYWith the increasing demands for versatile robotic platforms capable of performing a variety of tasks in diverse and uncertain environments, the needs for adaptable robotic structures have been on the rise. These requirements have led to the development of modular reconfigurable robotic systems that are composed of a numerous self-sufficient modules. Each module is capable of establishing rigid connections between multiple modules to form new structures that enable new functionalities. This allows the system to adapt to unknown tasks and environments. In such structures, coupling between modules is of crucial importance to the overall functionality of the system. Over the last two decades, researchers in the field of modular reconfigurable robotics have developed novel coupling mechanisms intended to establish rigid and robust connections, while enhancing system autonomy and reconfigurability. In this paper, we review research contributions related to robotic coupling mechanism designs, with the aim of outlining current progress and identifying key challenges and opportunities that lay ahead. By presenting notable design approaches to coupling mechanisms and the most relevant efforts at addressing the challenges of sensorization, misalignment tolerance, and autonomous reconfiguration, we hope to provide a useful starting point for further research into the field of modular reconfigurable robotics and other applications of robotic coupling.

A Framework for Taxonomy and Evaluation of Self-Reconfigurable Robotic Systems

“…Whereas, configuration is a connected set of modules that act as a single identity or shaped robot. The survey and analysis of modular robots were reported in [13] and the methods and design principles of the coupling mechanism for connecting the different modules were reviewed in [14]. State of the art in the development of modular reconfigurable robot is surveyed in [15] and suggests future research directions.…”

“…State of the art in the development of modular reconfigurable robot is surveyed in [15] and suggests future research directions. The mechanism to connect these modular units are reviewed in [14]. The self-reconfigurability in this paper is specifically self-assembly that can be defined as the reversible process where discrete entities bind to each other without being externally directed.…”

“…2, means that the robot is designed to be able to dock with other modules to form different configurations. Therefore, a modular robotic system should be self-reconfigurable or reconfigurable[13],[14]. Whereas a self-reconfigurable or reconfigurable robotic system might not be modular…”

Maneuvering and stabilization control of a bipedal robot with a universal-spatial robotic tail

“…Thus far, three designs of serpentine articulated tails have been presented [7,8,20], along with prior work analyzing the benefits this type of tail structure can provide in relation to single-link tails [6,21]. Additional details on prior work in robotic tails can be found in [22].…”

Wireless Robotic Components for Autonomous Vehicles

“…Similarly, the use of homogeneous components has been explored to construct manipulative and locomotive configurations of modular robots, including the development of self-reconfigurable and synchronization algorithms. [11][12][13] Additionally, several modular robot approaches have defined algorithms and functions as modular units for the comprehension and validation of software components, such as navigation, mapping, learning, and planning. 14,15 Other strategies have considered each module as an agent to the robot configuration, which are based on the multi-agent concept to collaboration and coordination of multi robots.…”