Generic Decentralized Control for Lattice-Based Self-Reconfigurable Robots

Abstract

Previous work on self-reconfiguring modular robots has concentrated primarily on designing hardware and developing reconfiguration algorithms tied to specific hardware systems. In this paper, we introduce a generic model for lattice-based self-reconfigurable robots and present several generic locomotion algorithms that use this model. The algorithms presented here are inspired by cellular automata, using geometric rules to control module actions. The actuation model used is a general one, assuming only that modules can generally move over the surface of a group of modules. These algorithms can then be instantiated onto a variety of particular systems. Correctness proofs of many of the rule sets are also given for the generic geometry; this analysis can carry over to the instantiated algorithms to provide different systems with correct locomotion algorithms. We also present techniques for automated analysis that can be used for algorithms that are too complex to be easily analyzed by hand.

Network-based reconfiguration routes for a self-reconfigurable robot

“…Configuration control is a core problem in robot locomotion or manipulation since the self-reconfigurable modular robot has many connected modules and each module usually has its brain/controller . Centralized control technique or distributed control technique have been widely applied in the configuration control for the reconfigurable systems [3,4,6,21,22,[31][32][33] . For a self-reconfigurable robot, the possible configuration number grows exponentially with the increase of module number [16][17][18][19][20][21][22] .…”

“…Centralized control technique or distributed control technique have been widely applied in the configuration control for the reconfigurable systems [3,4,6,21,22,[31][32][33] . For a self-reconfigurable robot, the possible configuration number grows exponentially with the increase of module number [16][17][18][19][20][21][22] . Reconfiguration planning may be the most difficult problem because both global topology and local topology of the self-reconfigurable modular robot have been taken into consideration in dynamic reconfiguration.…”

Towards cyclic fabrication systems for modular robotics and rapid manufacturing

“…Most recent research falls nicely into one category or the other. In the assembly category, researchers have demonstrated general processes of shape change through reconfiguration [11] [12] [13], stochastic assembly of random components [14] [15], prototype assembly systems for MEMS [16], and self-replication through centrally directed assembly of modular robots [17] [18] [19]. Within fabrication, two groups are developing desktop printers with the potential to replicate their constituent components [6] [7], and other groups are using rapid manufacturing machines to produce fully formed robotic devices [20] [21].…”

Generic distributed assembly and repair algorithms for self-reconfiguring robots

“…We are interested in developing architecture-independent control and planning algorithms for such systems. In our previous work [2]- [4] we describe distributed controllers for two tasks for self-reconfiguring robots: compliant locomotion gaits and splitting a large robot with a given behavior into smaller robots with the same behavior. We demonstrate a methodology for doing this work using the sliding cube model, in which modules are represented as cubes.…”

“…Each module can translate on a substrate of identical cubes and make convex and concave transitions on the substrate. The resulting algorithms are provably correct and can be instantiated easily to a wide range of physical platforms such as the Molecule and Crystal robots built in our lab [4] as well as other robot systems [8], [14], [15].…”