The Collective Self-reconfigurable Modular Organism (CoSMO)

Liedke, Jens; Matthias, Rene; Winkler, Lutz; Wörn, Heinz

doi:10.1109/aim.2013.6584059

Cited by 35 publications

(29 citation statements)

References 17 publications

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“…The modular robots used in this work are CoSMO modules [6], which were developed in Symbrion EU FP7 project [5]. The CoSMO module is a cube 10 cm in size and ∼1.2 kg in weight equipped with four docking mechanisms.…”

Section: Preliminariesmentioning

confidence: 99%

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Motion planning with adaptive motion primitives for modular robots

Vonásek

Saska

Košnar

et al. 2015

Applied Soft Computing

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Section: Preliminariesmentioning

confidence: 99%

“…The individual modules can move using various actuators like wheels, belts [5] or even screw-drives [6]. The modular robots utilize two different concepts of movements: a joint-control and a self-reconfiguration.…”

Section: Introductionmentioning

confidence: 99%

Motion planning with adaptive motion primitives for modular robots

Vonásek

Saska

Košnar

et al. 2015

Applied Soft Computing

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“…Therefore, the first task was to design and produce such a high number of modular robots. [9]; (b) Scout [10]; (c) Active Wheel [11]. To achieve our goals, an heterogeneous swarm of robots has been built.…”

Section: Introductionmentioning

confidence: 99%

A cognitive architecture for modular and self-reconfigurable robots

Levi

Meister

Rossum

et al. 2014

2014 IEEE International Systems Conference Proceedings

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Abstract-The field of reconfigurable swarms of modular robots has achieved a current status of performance that allows applications in diverse fields that are characterized by human support (e.g. exploratory and rescue tasks) or even in human-less environments. The main goal of the EC project REPLICATOR [1] is the development and deployment of a heterogeneous swarm of modular robots that are able to switch autonomously from a swarm of robots, into different organism forms, to reconfigure these forms, and finally to revert to the original swarm mode [2]. To achieve these goals three different types of robot modules have been developed and an extensive suite of embodied distributed cognition methods implemented [3]. Hereby the methodological key aspects address principles of self-organization. In order to tackle our ambitious approach a Grand Challenge has been proposed of autonomous operation of 100 robots for 100 days (100 days, 100 robots). Moreover, a framework coined the SOScycle (SOS: Swarm-Organism-Swarm) is developed. It controls the transitions between internal phases that enable the whole system to alternate between different modes mentioned above. This paper describes the vision of the Grand Challenge and the implementation and the results of the different phases of the SOS-cycle.

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“…CoSMO [35] robotic module is similar to SMORES in exterior design. The CoSMO robotic module is a cubic shaped structure with mechanical connectors mounted on four vertical walls of the cube and docking is guided by IR sensors.…”

Section: Cosmomentioning

confidence: 99%

“…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. Hybrid category robotic units such as ATRON [23,24], M 3 robot [25], M 3 Express [26], iMobot [27], SMORES [28], M-TRAN I-III [29][30][31], UBot [32], Soldercubes [33], HyMod [34] and CoSMO [35] are capable of forming both lattice and chain structures with few designs equipped with capabilities for self-mobility. Truss robotic units [36][37][38] employs telescopic links and variety of joints for forming reconfigurable structures.…”

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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The Collective Self-reconfigurable Modular Organism (CoSMO)

Cited by 35 publications

References 17 publications

Motion planning with adaptive motion primitives for modular robots

Motion planning with adaptive motion primitives for modular robots

A cognitive architecture for modular and self-reconfigurable robots

HexaMob—A Hybrid Modular Robotic Design for Implementing Biomimetic Structures

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