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Generation of Diversity in a Reaction-Diffusion-Based Controller

ARTIFICIAL LIFE 2014年第3期20卷 319-342页

作者： Zahadat, Payam Schmickl, Thomas Karl Franzens Univ Graz Dept Zool Artificial Life Lab A-8010 Graz Austria

A controller of biological or artificial organism (e.g., in bio-inspired cellular robots) consists of a number of processes that drive its dynamics. For a system of processes to perform as a successful controller, different properties can be mentioned. One of the desirable properties of such a system is the capability of generating sufficiently diverse patterns of outputs and behaviors. A system with such a capability is potentially adaptable to perform complicated tasks with proper parameterizations and may successfully reach the solution space of behaviors from the point of view of search and evolutionary algorithms. This article aims to take an early step toward exploring this capability at the levels of individuals and populations by introducing measures of diversity generation and by evaluating the influence of different types of processes on diversity generation. A reaction-diffusion-based controller called the artificial homeostatic hormone system (AHHS) is studied as a system consisting of different processes with various domains of functioning (e.g., internal or external to the control unit). Various combinations of these processes are investigated in terms of diversity generation at levels of both individuals and populations, and the effects of the processes are discussed representing different influences for the processes. A case study of evolving a multimodular AHHS controller with all the various process combinations is also investigated, representing the relevance of the diversity generation measures and practical scenarios.

关键词： Diversity reaction-diffusion-based control evolutionary computation modular robotics bio-inspired control

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Automated geneartion of the D-H parameters for configuration design of modular manipulators

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 2007年第5期23卷 553-562页

作者： Bi, Z. M. Zhang, W. J. Chen, I.-M. Lang, S. Y. T. Univ Saskatchewan Dept Mech Engn Saskatoon SK S7N 5A9 Canada CNR Integrated Mfg Technol Inst London ON N6G 4X8 Canada Nanyang Technol Univ Sch Mech & Prod Engn Singapore 639798 Singapore

Analysis models are to describe the relationships between design variables and robotic Kinematic and Dynamic (K&D) behaviors. In designing modular robotic system configuration, design variables are identified through the description of the modular system architecture. Once the design variables have been determined, two alternative ways can be employed to build K&D models from design variables: direct modeling and indirect modeling. The first method builds up the K&D model directly based on design variables of the modular architecture, while the second method builds up the K&D model based on a set of the D-H parameters, which is derived from design variables. The advantage of the second method is that most of analysis theories and tools, which were developed in designing nonmodular robotic configurations, can be utilized directly for designing modular robotic configurations. In this paper, we propose a more general architecture of modular manipulator systems. Based on this new architecture, we propose a systematic procedure to generate a mapping from modular design variables and the configuration description in terms of the D-H notation. (C) 2006 Elsevier Ltd. All rights reserved.

关键词： modular robotics robotic kinematics robotic dynamics automated modeling parametric conversion

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Dynamic analysis and distributed control of the tetrobot modular reconfigurable robotic system

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AUTONOMOUS ROBOTS 2001年第1期10卷 67-82页

作者： Lee, WH Sanderson, AC Rensselaer Polytech Inst Dept Mech Engn Aeronaut Engn & Mech Troy NY 12180 USA Rensselaer Polytech Inst Dept Elect Comp & Syst Engn Troy NY 12180 USA

Reconfigurable robotic systems can be adapted to different tasks or environments by reorganizing their mechanical configurations. Such systems have many redundant degrees of freedom in order to meet the combined demands of strength, rigidity, workspace kinematics, reconfigurability, and fault tolerance. In order to implement these new generations of robotic system, new approaches must be considered for design, analysis, and control. This paper presents an efficient distributed computational scheme which computes the kinematics, dynamics, redundancy resolution, and control inputs for real-time application to the control of the Tetrobot modular reconfigurable robots. The entire system is decomposed into subsystems based on a modular approach and Newton's equations of motion are derived and implemented using a recursive propagation algorithm. Two different dynamic resolution of redundancy schemes, the centralized Jacobian method and the distributed virtual force method, are proposed to optimize the actuating forces. Finally, distributed dynamic control algorithms provide an efficient modular implementation of the control architecture for a large family of configurations.

关键词： modular robotics reconfigurable parallel robotics dynamics redundancy resolution distributed control

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Dynamic rolling locomotion and control of modular robots

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 2002年第1期18卷 32-41页

作者： Lee, WH Sanderson, AC Rensselaer Polytech Inst Ctr Automat Technol Troy NY 12180 USA Rensselaer Polytech Inst Dept Elect Comp & Syst Engn Troy NY 12180 USA

Highly redundant modular robots may undergo large shape changes which significantly affect the geometry and dynamics of the robot. In these motions, the shape change may induce a tipping or rolling behavior of the robot. This paper describes the dynamic modeling, locomotion planning, control and simulation of such rolling motions for the Tetrobot modular robots. The motion is described by the path profiles of controlled nodes, the tipping criteria and dynamic tipping motion and an impact-reaction model of contact with the ground. These phases of motion are described using Newton-Euler dynamic equations and the principle of conservation of angular momentum. In this paper, a two-phase planning and switching control sequence is introduced to achieve stable and reliable motion of a Tetrobot modular robot. Simulation results illustrate the tipping behavior of a tetrahedron, the dynamic contact and rolling of an icosahedral Tetrobot and dynamic control of the rolling Tetrobot. The resulting models are useful to analyze and control both intentional rolling as a new mode of mobility as well as the avoidance of unintentional tipping and rolling during task execution.

关键词： distributed control dynamic rolling locomotion planning modular robotics reconfigurable parallel robotics tipping

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Hyperform specification: designing and interacting with self-reconfiguring materials

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PERSONAL AND UBIQUITOUS COMPUTING 2011年第2期15卷 133-149页

作者： Weller, Michael Philetus Gross, Mark D. Goldstein, Seth Copen Carnegie Mellon Univ Computat Design Lab Pittsburgh PA 15213 USA Carnegie Mellon Univ Dept Comp Sci Pittsburgh PA 15213 USA

We are on the verge of realizing a new class of material that need not be machined or molded in order to make things. Rather, the material forms and re-forms itself according to software programmed into its component elements. These self-reconfiguring materials are composed of robotic modules that coordinate with each other locally to produce global behaviors. These robotic materials can be used to realize a new class of artifact: a shape that can change over time, i.e., a four-dimensional shape or a hyperform. Hyperforms present several opportunities: objects such as furniture could exhibit dynamic behaviors, could respond to tangible and gestural input, and end-users could customize their form and behavior. To realize these opportunities, the tangible interaction community must begin to consider how we will create and interact with hyperforms. The behaviors that hyperforms can perform will be constrained by the capabilities of the self-reconfiguring materials they are made of. By considering how we will interact with hyperforms, we can inform the design of these systems. In this paper, we discuss the life cycle of a hyperform and the roles designers and end-users play in interacting with hyperforms at these various stages. We consider the interactions such a system could afford as well as how underlying hardware and software affect this interaction. And we consider the extent to which several current hardware systems, including our own prismatic cubes (Weller et al. in Intelligent Robots and Systems. IEEE, 2009), can support the hyperform interactions we envision.

关键词： modular robotics Tangible interaction Hyperforms Programmable matter

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Self-assembling modular robotic structures - Standard units with swappable payloads

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IEEE robotics & AUTOMATION MAGAZINE 2007年第4期14卷 26-33页

作者： Howe, A. Scott NASA Jet Propuls Lab Mission Syst Concepts Sect Explorat Syst Concepts Grp Pasadena CA 91109 USA

Cellular automata in the two-dimensional (2-D) world have been used to simulate self-replicating structures based on natural biological systems, evolution, and emergence. In self-replication, large structures consisting of multiple cells are programmed to make copies of themselves using the rule-based systems upon which the cellular automata are governed. Although cellular automata environments are computer-based tools for representing complex systems within a virtual world, the field of modular robotics partly came about as an attempt to create self-relocatable cuboids that could function as cellular automata in the three-dimensional (3-D) real world to create physical self-replicating systems. The application of cellular automata to 3-D real-world applications has resulted in lattice-type modular robotic systems. Lattice systems are cubical in nature, where each cube is a self-mobile unit that can move orthogonally to a vacant position by sliding along existing portions of structure. These lattice-type modular robotics systems have been used to study self-reconfigurability in the real world with autonomous elements.

关键词： modular robotics self-reconfiguring structures space construction

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A rapidly deployable manipulator system

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robotics AND AUTONOMOUS SYSTEMS 1997年第3期21卷 289-304页

作者： Paredis, CJJ Brown, HB Khosla, PK CARNEGIE MELLON UNIV INST ROBOT PITTSBURGH PA 15213 USA

A rapidly deployable manipulator system combines the flexibility of reconfigurable modular hardware with modular programming tools, allowing the user to rapidly create and program a manipulator, which is custom-tailored for a given task. This article describes the main building blocks of such a system: a reconfigurable modular manipulator system (RMMS), modular and reusable control software, and a novel agent-based approach to task-based design of modular manipulators.

关键词： modular robotics software assembly composable design system agent-based genetic algorithm

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RoboMusic with modular playware

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ARTIFICIAL LIFE AND robotics 2010年第4期15卷 369-375页

作者： Falkenberg, Kasper Baerendsen, Niels K. Nielsen, Jacob Jessen, Carsten Lund, Henrik Hautop Tech Univ Denmark Ctr Playware DK-2800 Lyngby Denmark

Based on the concepts of RoboMusic and modular playware, we developed a system composed of modular playware devices which allow any user to perform music in a simple, interactive manner. The key features exploited in the modular playware approach are modularity, flexibility, construction, immediate feedback to stimulate engagement, creative exploration of play activities, and in some cases activity design by end-users (e.g., DJs). We exemplify the approach with the development of 11 rock genres and 6 pop music pieces for modular I-BLOCKS, which are exhibited and in daily use at the Rock Me exhibition, and have been used at several international music events in Japan and the USA. A key finding is that professional music design is essential for the development of primitives in a musical behavior-based system, and this professional esthetics is necessary to engage the users in the activity of assembling and coordinating these "professional" musical primitives. This article describes, explores, and discusses this concept.

关键词： Playware modular robotics Music Behavior-based robotics

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RoboMusic: a behavior-based approach

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ARTIFICIAL LIFE AND robotics 2008年第1-2期12卷 18-23页

作者： Lund, Henrik Ottesen, Martin Univ Southern Denmark Maersk McKinney Moller Inst Campusvej 55 DK-5230 Odense M Denmark

Based on principles from modern artificial intelligence and robotics, we developed the RoboMusic concept. In RoboMusic, we use a number of robotic devices as instruments, and the tunes are composed as a behavior-based system. The music artist composes a baseline behavior for the robotic instruments, and composes the behavioral response to interactions by human musicians. The music artist is transformed from a composer of static music tunes to a developer of robot behavior: behavior that is expressed by the robotic system as music pieces. Music compositions are transformed to become robotic behavior as in a behavior-based system. A RoboMusic concert is performed with robotic instruments, and changes the concept of live concerts by inviting the audience to interact with the band's instruments themselves and thereby guide the live performance of the music themselves.

关键词： Robot music Behavior-based robotics modular robotics Dynamic music

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Mori: A modular Origami Robot

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2017年第5期22卷 2153-2164页

作者： Belke, Christoph H. Paik, Jamie Ecole Polytech Fed Lausanne Reconfigurable Robot Lab CH-1015 Lausanne Switzerland

This paper proposes a new robotic platform based on origami robots and reconfigurable modular robots. The concept combines the advantages of both robot types into a mobile, quasi-two-dimensional, lattice-type reconfigurable modular origami robot, Mori. A detailed description and analysis of the concept is validated by the presentation of a first prototype that incorporates the key functionalities of the proposed system. The modular robot prototype is mobile, can be connected to other modules of its kind, and fold up to create task-specific three-dimensional reconfigurable structures. Three implementations using the prototype in different configurations are presented in the form of individual modules, modular reconfigurable surfaces, and is applied to closed-loop object manipulation. The experiments highlight the capabilities and advantages of the system with respect to modularity, origami-folding, mobility, and versatility.

关键词： modular robotics origami robotics reconfigurable robotics

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