Mechatronic design of a modular self-reconfiguring robotic system

Unsal, C.; Khosla, Pradeep K.

doi:10.1109/robot.2000.844847

Cited by 72 publications

(31 citation statements)

References 9 publications

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“…Being low cost, modularized, redundant, and shape or structure changeable, the self-reconfigurable modular robots have been widely used in real applications, such as deep ocean exploration, space exploration, urban search and rescue, mining and military intelligence [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16] . Self-reconfigurable robots are usually composed of multiple homologous or heterologous modules.…”

Section: Introductionmentioning

confidence: 99%

Network-based reconfiguration routes for a self-reconfigurable robot

Liu

Wang

et al. 2008

Sci. China Ser. F-Inf. Sci.

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This paper presents a network-based analysis approach for the reconfiguration problem of a self-reconfigurable robot. The self-reconfigurable modular robot named "AMOEBA-I" has nine kinds of non-isomorphic configurations that consist of a configuration network. Each configuration of the robot is defined to be a node in the weighted and directed configuration network. The transformation from one configuration to another is represented by a directed path with nonnegative weight. Graph theory is applied in the reconfiguration analysis, where reconfiguration route, reconfigurable matrix and route matrix are defined according to the topological information of these configurations. Algorithms in graph theory have been used in enumerating the available reconfiguration routes and deciding the best reconfiguration route. Numerical analysis and experimental simulation results prove the validity of the approach proposed in this paper. And it is potentially suitable for other self-reconfigurable robots' configuration control and reconfiguration planning.

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Section: Introductionmentioning

confidence: 99%

Network-based reconfiguration routes for a self-reconfigurable robot

Liu

Wang

et al. 2008

Sci. China Ser. F-Inf. Sci.

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“…Our work draws on prior and ongoing research in modular and distributed robotics [YZR + 03], [CBW02], [KKY + 05], [RV03], [CW00], [PEUC97], [UK00], [Yim], [WZBL05], [BKGS06], [PCK + 06] and self-assembling systems [Nag02], [WG02]. Most these systems are composed of identical modules that can connect to each other, communicate, have some actuation capabilities, and in general are able to cooperate to perform a task as a group.…”

Section: A Related Workmentioning

confidence: 99%

Miche: Modular Shape Formation by Self-Disassembly

Gilpin

Kotay

Rus

et al. 2008

The International Journal of Robotics Research

137

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Abstract-We describe the design, implementation, and programming of a set of robots that, starting from an amorphous arrangement, can be assembled into arbitrary shapes and then commanded to self-disassemble in an organized manner, to obtain a goal shape. We present custom hardware, distributed algorithms, and experimental results from hundreds of trails which show the system successfully forming complex threedimensional shapes. Each of the 28 modules in the system is implemented as a 1.8-inch autonomous cube-shaped robot able to connect to and communicate with its immediate neighbors. Embedded microprocessors control each module's magnetic connection mechanisms and infrared communication interfaces. When assembled into a structure, the modules form a system that can be virtually sculpted using a computer interface and a distributed process. The group of modules collectively decide who is on the final shape and who is not using algorithms that minimize information transmission and storage. Finally, the modules not in the structure disengage their magnetic couplings and fall away under the influence of an external force, in this case, gravity.

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“…Polypod [9] and I-Cubes [10] are composed of two types of module, one of which is passive and mainly functions to carry the power supply. Molecules [11,12] feature two different modules that perform the same type of movement.…”

Section: Introductionmentioning

confidence: 99%

A behaviour-based control architecture for heterogeneous modular, multi-configurable, chained micro-robots

Brunete

Hernando

Gambao

et al. 2012

Robotics and Autonomous Systems

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This article presents a new control architecture designed for heterogeneous modular, multi-configurable, chained micro-robots. This architecture attempts to fill the gap that exists in heterogeneous modular robotics research, in which little work has been conducted compared to that in homogeneous modular robotics studies. The architecture proposes a three-layer structure with a behaviour-based, low-level embedded layer, a halfdeliberative half-behaviour-based high layer for the central control, and a heterogeneous middle layer acting as a bridge between these two layers. This middle layer is very important because it allows the central control to treat all modules in the same manner, facilitating the control of the robot. A communication protocol and a module description language were also developed for the control architecture to facilitate communication and information flow between the heterogeneous modules and the central control. Owing to the heterogeneous behaviour of the architecture, the system can automatically reconfigure its actions to adapt to unpredicted events (such as actuator failure). Several behaviours (at low and high levels) are also presented here.

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Mechatronic design of a modular self-reconfiguring robotic system

Abstract: Design and implementation of I-Cubes, a modular selfreconfigurable robotic system, is discussed.

Cited by 72 publications

References 9 publications

Network-based reconfiguration routes for a self-reconfigurable robot

Network-based reconfiguration routes for a self-reconfigurable robot

Miche: Modular Shape Formation by Self-Disassembly

A behaviour-based control architecture for heterogeneous modular, multi-configurable, chained micro-robots

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