Automatic onboard and online modelling of modular and self-reconfigurable robots

Meister, Eugen; Nosov, Eugen; Levi, Paul

doi:10.1109/ram.2013.6758565

Cited by 7 publications

(4 citation statements)

References 14 publications

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“…Methods such as informed search in [30], reinforcement learning in [31], genetic algorithms in [26], and graph heuristic search in [32] were investigated to overcome the combinatorial complexity associated with the problem of identifying the correct order of the modules. Furthermore, the automatic generation of the equations of motion for a given robot configuration was presented in [33]. The work presented in [34] explores the co-design of modular tensegrity structures, whereas the evolution of modular robots without inter-modular communication was presented in [35].…”

Section: Automatic Design Of Task-specific Robotsmentioning

confidence: 99%

Computational Systems Design of Low-Cost Lightweight Robots

Sathuluri,

Sureshbabu,

Frank

et al. 2023

Robotics

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With the increased demand for customisation, developing task-specific robots for industrial and personal applications has become essential. Collaborative robots are often preferred over conventional industrial robots in human-centred production environments. However, fixed architecture robots lack the ability to adapt to changing user demands, while modular, reconfigurable robots provide a quick and affordable alternative. Standardised robot modules often derive their characteristics from conventional industrial robots, making them expensive and bulky and potentially limiting their wider adoption. To address this issue, the current work proposes a top-down multidisciplinary computational design strategy emphasising the low cost and lightweight attributes of modular robots within two consecutive optimisation problems. The first step employs an informed search strategy to explore the design space of robot modules to identify a low-cost robot architecture and controller. The second step employs dynamics-informed structural optimisation to reduce the robot’s net weight. The proposed methodology is demonstrated on a set of example requirements, illustrating that (1) the robot modules allow exploring non-intuitive robot architectures, (2) the structural mass of the resulting robot is 16 % lower compared to a robot designed using conventional aluminium tubes, and (3) the designed modules ensure the physical feasibility of the robots produced.

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Section: Automatic Design Of Task-specific Robotsmentioning

confidence: 99%

Computational Systems Design of Low-Cost Lightweight Robots

Sathuluri,

Sureshbabu,

Frank

et al. 2023

Robotics

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“…Salah satu konsorsium di bidang swarm robotics mengaplikasikan self-assembly untuk menghindari lubang besar, menyeberangi celah, memanjat bukit, navigasi untuk segala medan, dan operasi penyelamatan (Mondada, 2004;O'Grady, 2012;Trianni, 2014;Bruni, 2015;Matthews, 2015). Sementara konsorsium yang lain mengaplikasikan self-assembly untuk pencarian sumber energi listrik jika swarm robot dilepas di lingkungan tanpa ada ada bantuan manusia (Kornienko, 2007;Meister, 2013;Levi, 2014;Vonásek, 2015).…”

Section: Pendahuluanunclassified

Strategi Self-Assembly Paralel pada Swarm Robot

Syafitri

2019

ELKOMIKA

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ABSTRAKDari banyaknya strategi yang diusulkan untuk proses self-assembly pada swarm robotics, hanya beberapa grup riset berkonsentrasi di bidang ini yang mengusulkan proses paralel pada penggabungan antar robot. Tetapi, strategi ini hanya digunakan ketika sebuah robot memerlukan tumpuan dari dua robot atau lebih pada satu waktu. Berdasar pada kebutuhan untuk menyebarkan ratusan hingga ribuan robot pada satu swarm, strategi penggabungan antar robot satu-demi-satu memerlukan waktu yang sangat lama untuk diselesaikan. Di artikel ini, strategi self-assembly antar robot pada suatu swarm secara paralel diusulkan untuk mengurangi waktu proses self-assembly dengan menempatkan sejumlah robot di posisi tertentu. Saat penggabungan, robot-robot ini akan bergerak menempatkan dirinya sesuai dengan posisi akhir yang ditargetkan. Hasil menunjukkan bahwa strategi ini dapat mereduksi waktu proses self-assembly hingga setengah dari waktu yang diperlukan dengan proses penggabungan satu-demi-satu.Kata kunci: swarm robot, self-assembly, proses paralel ABSTRACTDespite the number of strategies proposed for self-assembly process in swarm robotics, only few research groups working in this area have proposed the parallel process of robots assembled each other. However, this strategy only works when a robot needs to be supported by two or more robots in a time. When deploying hundred to thousand robots in a swarm is required, the strategy of robots connecting to the structure of assembled robots in a one-by-one manner requires an extremely long time to accomplish. In this paper, a strategy of parallel selfassembly for robots in a swarm is proposed for reducing the self-assembly process time by placing a number of robots at particular positions. While connecting, they will move to position themselves appropriately to the targeted final structure. Result shows that this strategy can reduce the process of self-assembly time up to half of the time required for one-by-one process.Keywords: swarm robots, self-assembly, parallel process

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“…One of the seminal works in modular robotics using data stored in modules for obtaining the gravity vector of a robot model is (15), but it did not present details for automatically obtaining the dynamics of the assembled arm. Models have been derived in (16)(17)(18) based on Lie groups and the product-of-exponentials formulation (19); however, these methods have not shown seamless applicability to arbitrarily shaped modules (20). On the other hand, our approach builds on the standard Denavit-Hartenberg convention (21) and is applicable to arbitrary modules.…”

Section: Introductionmentioning

confidence: 99%

Effortless creation of safe robots from modules through self-programming and self-verification

et al. 2019

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Industrial robots cannot be reconfigured to optimally fulfill a given task and often have to be caged to guarantee human safety. Consequently, production processes are meticulously planned so that they last for long periods to make automation affordable. However, the ongoing trend toward mass customization and small-scale manufacturing requires purchasing new robots on a regular basis to cope with frequently changing production. Modular robots are a natural answer: Robots composed of standardized modules can be easily reassembled for new tasks, can be quickly repaired by exchanging broken modules, and are cost-effective by mass-producing standard modules usable for a large variety of robot types. Despite these advantages, modular robots have not yet left research laboratories because an expert must reprogram each new robot after assembly, rendering reassembly impractical. This work presents our set of interconnectable modules (IMPROV), which programs and verifies the safety of assembled robots themselves. Experiments show that IMPROV robots retained the same control performance as nonmodular robots, despite their reconfigurability. With respect to human-robot coexistence, our user study shows a reduction of robot idle time by 36% without compromising on safety using our self-verification concept compared with current safety standards. We believe that by using self-programming and self-verification, modular robots can transform current automation practices.

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Automatic onboard and online modelling of modular and self-reconfigurable robots

Cited by 7 publications

References 14 publications

Computational Systems Design of Low-Cost Lightweight Robots

Computational Systems Design of Low-Cost Lightweight Robots

Strategi Self-Assembly Paralel pada Swarm Robot

Effortless creation of safe robots from modules through self-programming and self-verification

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