SMC rover: planetary rover with transformable wheels

Kawakami, Atsushi; Torii, Akinori; Motomura, Kazuhiro; Hirose, Shigeo

doi:10.1109/sice.2002.1195203

Cited by 19 publications

(11 citation statements)

References 8 publications

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“…Each module of iMobot has four degrees of freedom that can crawl, lift itself and attach to others to form larger shapes [19]. [16] MCC Track AMOEBA [17] MCC Track Tetrobot [18] MCC Roll, Leg iMobot [19] MCC Crawl, Roll, Leg PolyBot [20] WBL Roll, Leg GZ-I Robot [21] WBL Leg CKBot [11] WBL Roll, Leg OCTABOT [22] WBL -Odin [23] WBL Spatial Contractions I-Cubes [24] WBL Leg Roombots [25] WBL Roll, Leg Molecubes [26] WBL Roll Uni-Rover [27] WBL Wheel CONRO [28] WBL Roll, Leg…”

Section: Modular Reconfigurable Robots Modular and Reconfigurable Robmentioning

confidence: 99%

“…Molecubes are cube shaped modules, which can rotate about a plane and dock together to form linear or larger shapes, with the aim to be adopted as a standardized modular reconfigurable research platform [26]. Uni-rover, classified as WBL, has smaller modules that function like wheels when connected together to a separate main body [27]. CONRO is WBL type modular robot, which can configure into different shapes and do locomotion by roll or legged motion [28].…”

Section: Modular Reconfigurable Robots Modular and Reconfigurable Robmentioning

confidence: 99%

See 1 more Smart Citation

Design of a Multi-Directional Hybrid-Locomotion Modular Robot With Feedforward Stability Control

Kumar

Saab

Ben-Tzvi

2017

Volume 5B: 41st Mechanisms and Robotics Conference

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This paper presents the design of a modular robot capable of multi-directional mobility to aid reconfiguration on uneven terrain. Modular reconfigurable robotic systems consist of a large number of self-sufficient modules that can dock and reconfigure to scale locomotion and manipulation capabilities. However, on uneven terrains, reconfigurable robots face challenges due to the requirement of precise alignment between modules during the docking procedure. First, a survey of current modular reconfigurable robots is presented, analyzing their strengths and shortcomings in reconfiguration and mobility. A novel design is formulated that features a hybrid combination of wheels and tracks, symmetrically assembled about the front and right planes, providing multi-directional mobility and modularity. The robot can move over uneven terrain via tracks, move at higher speeds via wheels placed orthogonally to the tracks, and move in the vertical direction via a vertical translation mechanism in order to aid in multi-robot docking. Both the wheels and tracks possess yaw mobility via differential drive. The design’s compact size and hybrid multi-directional mobility system make the robot highly mobile on uneven terrain. Presented in this paper are the mechanical and electrical design and a feedforward dynamic stability controller, the performance of which is validated using a simulated case study.

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Section: Modular Reconfigurable Robots Modular and Reconfigurable Robmentioning

confidence: 99%

Section: Modular Reconfigurable Robots Modular and Reconfigurable Robmentioning

confidence: 99%

Design of a Multi-Directional Hybrid-Locomotion Modular Robot With Feedforward Stability Control

Kumar

Saab

Ben-Tzvi

2017

Volume 5B: 41st Mechanisms and Robotics Conference

View full text Add to dashboard Cite

show abstract

“…SMC is the most representative reconfigurable planetary rover, consisting of a mother rover and some detachable child rovers. 23 The child rover (Uni-Rover) is composed of a 4-DOF manipulator (3 DOFs for the arm and 1 DOF for the gripper) and a 1-DOF wheel, so that it can take both manipulation mode and locomotion mode. The mother rover cannot move independently without the Uni-Rovers that can work as the wheels to supply the motion.…”

Section: Modular Mobile Robotsmentioning

confidence: 99%

Survey on research and development of reconfigurable modular robots

Liu

Zhang

Hao

2016

Advances in Mechanical Engineering

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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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“…Gunryu et al, 1996) and CEBOT (Kawauchi, Y.;et al, 1994) are all composed of mobile platforms with serial manipulators. The transformable wheel of the SMC rover (Kawakami, A.;et al, 2002) can be considered as a simple mobile robot consisting of one wheel and a multi-functional manipulator which can grasp objects or connect the wheel with the central platform or other wheels. In these prototypes, the docking actions are performed by the manipulators.…”

Section: Related Work In Literaturementioning

confidence: 99%