Modular ATRON: modules for a self-reconfigurable robot

Jørgensen, Martin; Østergaard, Esben Hallundbæk; Lund, Henrik Hautop

doi:10.1109/iros.2004.1389702

Cited by 223 publications

(152 citation statements)

References 6 publications

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“…ATRON [15] is also a self-reconfiguring system with actuated latches, that connect by extending hooks to grab passive bars on the opposite module. Like CKbot and the molecubes, each module has an internal rotational degree of freedom.…”

Section: A Existing Construction Kit Connectorsmentioning

confidence: 99%

An Optocoupled Poseable Ball and Socket Joint for Computationally Enhanced Construction Kits

Weller¹,

Yi–Luen²,

Gross³

2009

Proceedings of the 2nd International Conference on Robotic Communication and Coordination

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Abstract-We present a novel design for connecting pieces of a computationally enhanced construction kit, an optocoupled ball and socket joint. Unlike other existing connectors, our joint is poseable and allows both the topology and dynamic configuration of a kit assembly to be sensed. We provide a survey of existing computationally enhanced construction kit connectors and describe the technical details of our design.

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Section: A Existing Construction Kit Connectorsmentioning

confidence: 99%

An Optocoupled Poseable Ball and Socket Joint for Computationally Enhanced Construction Kits

Weller¹,

Yi–Luen²,

Gross³

2009

Proceedings of the 2nd International Conference on Robotic Communication and Coordination

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“…One disadvantage is that robots must know the bluetooth address of the host (or its user-friendly name), and we cannot easily change the host. 2) broadcast messages for all robots in the bluetooth area 4 . 3) establish dedicated links with modules that have been detected in the bluetooth area.…”

Section: B Centralized Management On Host Systemmentioning

confidence: 99%

“…CONRO (Configurable Robot -USC), is a robot made of a set of connectible, autonomous and self-sufficient modules [1]. ATRON , is a lattice based self-reconfigurable robot [4], and also, PolyPod (Xeros) [3], I-Cube (CMU) [5]. These robots generally consist of modules working together and where each module is permanently linked to at least one other.…”

Section: Introductionmentioning

confidence: 99%

Abstraction of the Communication in a Team of Robots with a Language Approach

Gueeganno¹,

Duhaut

2006

2006 International Conference on Mechatronics and Automation

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Abstract-This paper presents, first, the maam 1 project which is a self-reconfigurable robotic architecture where each module is autonomous for energy and CPU. This robot provides a full software/hardware micro-architecture that underlies a language abstraction for command/control purpose. Because the synchronization between modules (or between groups) is a crucial aspect (docking, synchronized movements . . . ), we focus here on the communication aspects, in particular how we abstract them with a language based solution.

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“…Støy et al [13] developed a role-based control strategy for the self-reconfigurable modular robot CONRO [14]. Lund et al are developing land-based [15] and waterbased [16] modular robot systems. The water-based system is still in its prototype phase, and although will be influenced by stochastic fluid forces, the individual units are designed to move independently and deterministically.…”

Section: Introductionmentioning

confidence: 99%

Three Dimensional Stochastic Reconfiguration of Modular Robots

White¹,

Zykov²,

Bongard³

et al. 2005

Robotics: Science and Systems I

128

116

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Abstract-Here we introduce one simulated and two physical three-dimensional stochastic modular robot systems, all capable of self-assembly and self-reconfiguration. We assume that individual units can only draw power when attached to the growing structure, and have no means of actuation. Instead they are subject to random motion induced by the surrounding medium when unattached. We present a simulation environment with a flexible scripting language that allows for parallel and serial selfassembly and self-reconfiguration processes. We explore factors that govern the rate of assembly and reconfiguration, and show that self-reconfiguration can be exploited to accelerate the assembly of a particular shape, as compared with static self-assembly. We then demonstrate the ability of two different physical three-dimensional stochastic modular robot systems to self-reconfigure in a fluid. The second physical implementation is only composed of technologies that could be scaled down to achieve stochastic self-assembly and self-reconfiguration at the microscale.

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Modular ATRON: modules for a self-reconfigurable robot

Cited by 223 publications

References 6 publications

An Optocoupled Poseable Ball and Socket Joint for Computationally Enhanced Construction Kits

An Optocoupled Poseable Ball and Socket Joint for Computationally Enhanced Construction Kits

Abstraction of the Communication in a Team of Robots with a Language Approach

Three Dimensional Stochastic Reconfiguration of Modular Robots

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