SMC Rover: Planetary Rover with Transformable Wheels

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

doi:10.1007/3-540-36268-1_45

Cited by 14 publications

(9 citation statements)

References 8 publications

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“…To realize a useful robot as mentioned above this section, we have developed an arm equipped single wheel robot named "Uni-Rover" (Kawakami et al, 2003) as shown in Fig. 3.…”

Section: What Is "Uni-rover"mentioning

confidence: 99%

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Development of Arm Equipped Single Wheel Rover: Effective Arm-Posture-Based Steering Method

2005

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We have been proposing a new planetary rover system named "SMC Rover". This system consists of one main body and detachable units, which can work as child rovers, and also become driving units of the main body. Each detachable unit named "Uni-Rover" consists of a single manipulator mounted on a wheel. Prototype models of the Uni-Rover and the SMC Rover have been already developed. This paper describes a new method of trajectory modeling for the Uni-Rover using the relation between arm posture and turning radius. At first, an intuitively recognizable model which uses zero slip angle is introduced. However, because this intuitive model has some problems, a new solution which considers the loss of friction on the wheel and on the caster is also discussed. The validity of the presented method is verified by experiments with an actual mechanical model. Moreover, an effective steering method which considers the margin of the energy stability is introduced.Keywords: SMC Rover, Uni-Rover, planetary rover, Super-Mechano-Colony, arm equipped single wheel rover, effective steering method

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“…To realize a useful robot as mentioned above this section, we have developed an arm equipped single wheel robot named "Uni-Rover" (Kawakami et al, 2003) as shown in Fig. 3.…”

Section: What Is "Uni-rover"mentioning

confidence: 99%

“…2 and 3, we have already designed the trial model of the SMC rover and the Uni-Rover, and carried out basic experiments on locomotion, manipulation, transformation, docking and detaching of the Uni-Rover (Kawakami et al, 2003).…”

Section: Introductionmentioning

confidence: 99%

Development of Arm Equipped Single Wheel Rover: Effective Arm-Posture-Based Steering Method

2005

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“…Here one or more swam modules assist, or transport another module by attaching to it physically. Another closely related work is proposed in [8]. Here, the modules which can act as basic manipulators individually, controlled by a central module, configure into a functional AGV, called a SMC-rover, after combining with a central module.…”

Section: Introductionmentioning

confidence: 99%

Swarm-dular quadcopter: bringing swarm robotics and modular robotics together

Mohan¹,

Guruprasad²

2018

IJET

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In this paper, we present a new concept in robotics, which we call as swarm-dular robotics, by bringing together swarm robotics and modular robotics. We propose a swarm-dular quadcopter, which is a modular quadcopter, where, multiple wheeled ground robots (AGVs), which are part of a heterogenous swarm or multi-robotic(agent) system (MRS or MAS), attach/dock together to form an aerial quadcopter robot. We provide a conceptual design and demonstrate the proposed system using simulation experiments in Robot Operating System (ROS). Behavior of the system as both a swarm and a modular quadcopter UAV are demonstrated.

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“…Modular robotic designs such as ACM [7][8][9], Millibot [10], Uni-rover [11], Sambot [12], Scout [13,14] and Trimobot [15] are capable of forming chain structures along with mobility support. Robotic designs such as Polypod [16], CONRO [17], Polybot [18], Transmote [19], ModReD [20,21], and CKbot [22] are also capable of forming chain structures designed without self-mobility feature in independent robotic modules.…”

Section: Introductionmentioning

confidence: 99%

HexaMob—A Hybrid Modular Robotic Design for Implementing Biomimetic Structures

et al. 2017

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Modular robots are capable of forming primitive shapes such as lattice and chain structures with the additional flexibility of distributed sensing. The biomimetic structures developed using such modular units provides ease of replacement and reconfiguration in co-ordinated structures, transportation etc. in real life scenarios. Though the research in the employment of modular robotic units in formation of biological organisms is in the nascent stage, modular robotic units are already capable of forming such sophisticated structures. The modular robotic designs proposed so far in modular robotics research vary significantly in external structures, sensor-actuator mechanisms interfaces for docking and undocking, techniques for providing mobility, coordinated structures, locomotions etc. and each robotic design attempted to address various challenges faced in the domain of modular robotics by employing different strategies. This paper presents a novel modular wheeled robotic design -HexaMob facilitating four degrees of freedom (2 degrees for mobility and 2 degrees for structural reconfiguration) on a single module with minimal usage of sensor-actuator assemblies. The crucial features of modular robotics such as back-driving restriction, docking, and navigation are addressed in the process of HexaMob design. The proposed docking mechanism is enabled using vision sensor, enhancing the capabilities in docking as well as navigation in co-ordinated structures such as humanoid robots.

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SMC Rover: Planetary Rover with Transformable Wheels

Cited by 14 publications

References 8 publications

Development of Arm Equipped Single Wheel Rover: Effective Arm-Posture-Based Steering Method

Development of Arm Equipped Single Wheel Rover: Effective Arm-Posture-Based Steering Method

Swarm-dular quadcopter: bringing swarm robotics and modular robotics together

HexaMob—A Hybrid Modular Robotic Design for Implementing Biomimetic Structures

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