Electronic System and Software Architecture of Modular Reconfigurable Robot Module OMNIMO

Abstract

A robot is an electromechanical system, which is guided by software via electronic circuitry. In the absence of electronic systems, there is no way to make a connection between software and mechanical components. This means that all robotic systems require mechanical systems, electronic systems and software. OMNIMO, as a modular reconfigurable robot, has sophisticated electronic systems and software. Electronic system of OMNIMO includes controllers, actuators, transducers, communication units, regulators, batteries, user interface units and complementary components. In addition, OMNIMO is controlled by four different layers of software. In this paper, electronic hardware details, system integration and control software architecture of modular reconfigurable robot module OMNIMO are presented. In addition, adaptation of components and communication protocol details of hardware are given.

Dynamic modeling and configuration adaptive control for modular reconfigurable robot

“…Several literatures of the mobile architecture were published, such as Trimobot, 6 UBot, 7 ModRED, 8 Scout robot, 9 AMOEBA, 10 Sambot, 11 360bot, 12 M 2 sbot, 13 and OMNIMO. 14 Previous researchers mainly focused on the structure design [12][13][14] and the locomotion and control. 6,7,9,[15][16][17] However, the research of automatic generation of motion equations is not enough, and especially the configuration adaptive control is less.…”