Network-based reconfiguration routes for a self-reconfigurable robot

This article presents a comprehensive survey of reconfigurable modular robots, which covers the origin, history, the state of the art, key technologies, challenges, and applications of reconfigurable modular robots. An elaborative classification of typical reconfigurable modular robots is proposed based on the characteristics of the modules and the reconfiguration mechanism. As the system characteristics of reconfigurable modular robots are mainly dependent on the functions of modules, the mechanical and electrical design features of modules of typical reconfigurable modular robots are discussed in detail. Furthermore, an in-depth comparison analysis is conducted, which encompasses discussions of module shape, module degrees of freedom, module attribute, connection mechanisms, interface autonomy, locomotion modes, and workspace. Meanwhile, many reconfigurable modular robot researches focus on the study of self-X capabilities (i.e. self-reconfiguration, self-assembly, self-adaption, etc.), which embodies autonomy performance of reconfigurable modular robots in certain extent. An evolutionary cobweb evaluation model is proposed in this article to evaluate the autonomy level of reconfigurable modular robots. Although various reconfigurable modular robots have been developed and some of them have been put into practical applications such as search and rescue missions, there still exist many open theoretical, technical, and practical challenges in this field. This work is hopefully to offer a reference for the further developments of reconfigurable modular robots.

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“…The current representation methods mainly include encoding, 88 assembly incidence matrix, 32 directed graphs, 39 and configuration matrix. 20…”

Section: Study On Configurations Of Robotic Organismsmentioning

confidence: 99%

Survey on research and development of reconfigurable modular robots

Liu

Zhang

Hao

2016

Advances in Mechanical Engineering

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“…Some common technologies and expertise technologies of unmanned autonomous systems have attracted researchers' wide attention, such as sensing technology [54,56], human-robot interaction technology [45], information communication technology [20], path planning technology [32,57,58], multi-platform collaboration technology [15,35,36,50,59,60], movement and motion-control technology [17,61,62], autonomy energy technology [39], mission planning technology [13,16,63], and autonomous flight-control technology [31,34,64,65]. Ref.…”

Section: Key Technologies Of the Cobweb Evaluation Modelmentioning

confidence: 99%

Evaluation methods for the autonomy of unmanned systems

Wang

Liu

2012

Chin. Sci. Bull.

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Future military and civilian unmanned systems will be extensively used on land, under the sea, in air, and in space. Evaluation of their autonomy is critical to realize the autonomous operation ability of unmanned systems. This paper discussed the basic concepts of autonomy and the significance of autonomy evaluation, and then surveys and describes existing evaluating methods. Based on analyses of key technologies and these technologies' technical readiness levels, a cobweb evaluation model as a universal evaluation model has been used to evaluate unmanned systems. If the technology warps (aspects of autonomy) and wefts (levels of those aspects) of unmanned systems can be determined for the cobweb model, the model can handle the mutual coupling, high dimensions, and diversity of warp lines. This model potentially has wide application in evaluating various unmanned systems.

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“…Therefore, the available method is firstly representing the features of the modular robot mathematically and then enumerating the configuration by simulation. Configuration representation is an important issue in this process [1][2][3][4][5][6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

“…There are also other representing techniques in the literatures. For instance, configuration network is used to repentant the reconfiguration relationship of a link-type self-reconfigurable modular robot AMOEBA-I [2][3]. However, all these existing approaches in the literatures can not effectively represent AMOEBA-I's configurations.…”

Section: Introductionmentioning

confidence: 99%

Configuration representation of a link-type self-reconfigurable mobile robot

Liu

Wang

et al. 2008

APCCAS 2008 - 2008 IEEE Asia Pacific Conference on Circuits and Systems

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In this paper, we present a four-layered representing architecture for the configurations of a link-type reconfigurable mobile robot. Decimal numbers are used to represent all these possibilities in joint space. Binary codes are introduced to represent the links with consideration of adjacent interventions. To find out all the mobile configurations completely and accurately, configuration matrices are proposed to represent the configurations physically and to detect the multi-module interventions. Lastly, we take a three-module self-reconfigurable robot, AMOEBA-I, as an example to validate the proposed fourlayered approach.I.

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Network-based reconfiguration routes for a self-reconfigurable robot

Cited by 16 publications

References 34 publications

Survey on research and development of reconfigurable modular robots

Survey on research and development of reconfigurable modular robots

Evaluation methods for the autonomy of unmanned systems

Configuration representation of a link-type self-reconfigurable mobile robot

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