Distributed Self-Reconfiguration of M-TRAN III Modular Robotic System

Kurokawa, Haruhisa; Tomita, Kohji; Kamimura, Akiya; Kokaji, Shigeru; Hasuo, Takashi; Murata, Satoshi

doi:10.1177/0278364907085560

Cited by 222 publications

(132 citation statements)

References 14 publications

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“…The consortia considered many state-of-the-art reconfigurable solutions, such as superBot [36], M-Tran [37], Poly-Bot [38], molecube [39], HYDRA/ATRON [40] and others, even visited some of these labs for exchange of experience. Currently, we follow three different developmental lines, which will be later fused into one or two first prototypes.…”

Section: Hardware and Software Challengesmentioning

confidence: 99%

Cognitive Systems Platforms using Open Source

Courtney

Michel

Cangelosi

et al. 2009

Performance Evaluation and Benchmarking of Intelligent Systems

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Section: Hardware and Software Challengesmentioning

confidence: 99%

Cognitive Systems Platforms using Open Source

Courtney

Michel

Cangelosi

et al. 2009

Performance Evaluation and Benchmarking of Intelligent Systems

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“…There is a large number of researches in self-reconfigurable robotic systems, particularly in homogeneous systems that consist of identical active modules with actuators, connection systems, sensors, controllers, and effectors [1][2][3][4][5][6]. A recent survey paper is found in [7].…”

Section: Introductionmentioning

confidence: 99%

“…Similarly, step (2) could be skipped. Thus, two modules are disconnected directly in step (4). The active and passive modules are the fundamental parts, and they are not disassembled.…”

mentioning

confidence: 99%

A Novel Docking System for Modular Self-Reconfigurable Robots

Zhang

Gupta

2017

Robotics

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Existing self-reconfigurable robots achieve connections and disconnections by a separate drive of the docking system. In this paper, we present a new docking system with which the connections and disconnections are driven by locomotion actuators, without the need for a separate drive, which reduces the weight and the complexity of the modules. This self-reconfigurable robot consists of two types of fundamental modules, i.e., active and passive modules. By the docking system, two types of connections are formed with the fundamental modules, and the docking and undocking actions are achieved through simple control with less sensory feedback. This paper describes the design of the robotic modules, the docking system, the docking process, and the docking force analysis. An experiment is performed to demonstrate the self-reconfigurable robot with the docking system.

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“…Robotic designs such as Polypod [16], CONRO [17], Polybot [18], Transmote [19], ModReD [20,21], and CKbot [22] are also capable of forming chain structures designed without self-mobility feature in independent robotic modules. Hybrid category robotic units such as ATRON [23,24], M 3 robot [25], M 3 Express [26], iMobot [27], SMORES [28], M-TRAN I-III [29][30][31], UBot [32], Soldercubes [33], HyMod [34] and CoSMO [35] are capable of forming both lattice and chain structures with few designs equipped with capabilities for self-mobility. Truss robotic units [36][37][38] employs telescopic links and variety of joints for forming reconfigurable structures.…”

Section: Introductionmentioning

confidence: 99%

HexaMob—A Hybrid Modular Robotic Design for Implementing Biomimetic Structures

et al. 2017

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Modular robots are capable of forming primitive shapes such as lattice and chain structures with the additional flexibility of distributed sensing. The biomimetic structures developed using such modular units provides ease of replacement and reconfiguration in co-ordinated structures, transportation etc. in real life scenarios. Though the research in the employment of modular robotic units in formation of biological organisms is in the nascent stage, modular robotic units are already capable of forming such sophisticated structures. The modular robotic designs proposed so far in modular robotics research vary significantly in external structures, sensor-actuator mechanisms interfaces for docking and undocking, techniques for providing mobility, coordinated structures, locomotions etc. and each robotic design attempted to address various challenges faced in the domain of modular robotics by employing different strategies. This paper presents a novel modular wheeled robotic design -HexaMob facilitating four degrees of freedom (2 degrees for mobility and 2 degrees for structural reconfiguration) on a single module with minimal usage of sensor-actuator assemblies. The crucial features of modular robotics such as back-driving restriction, docking, and navigation are addressed in the process of HexaMob design. The proposed docking mechanism is enabled using vision sensor, enhancing the capabilities in docking as well as navigation in co-ordinated structures such as humanoid robots.

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Distributed Self-Reconfiguration of M-TRAN III Modular Robotic System

Cited by 222 publications

References 14 publications

Cognitive Systems Platforms using Open Source

Cognitive Systems Platforms using Open Source

A Novel Docking System for Modular Self-Reconfigurable Robots

HexaMob—A Hybrid Modular Robotic Design for Implementing Biomimetic Structures

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