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Gravity Compensation modular Robot: Proposal and Prototyping

JOURNAL OF robotics AND MECHATRONICS 2019年第5期31卷 697-706页

作者： Morooka, Yukio Mizuuchi, Ikuo Tokyo Univ Agr & Technol 2-24-16 Naka Cho Koganei Tokyo 1848588 Japan

If a robot system can take various shapes, then it can play various roles, such as humanoid, dog robot, and robot arm. A modular robot is a robot system in which robots are configured using multiple modules, and it is possible to configure robots of other shapes by varying the combinations of the modules. In conventional modular robots, the shape is restricted by gravity, and configurable shapes are limited. In this study, we propose a gravity compensation modular robot to solve this problem. This paper describes the design and prototyping of the gravity compensation modular robot, and provides examples of robot shapes configured using the gravity compensation modules and motion experiments of the robots. In the experiments, there were motions that the robots could perform and could not perform. We considered the lack in the gravity compensation level and module rigidity as the main factor of the failures. This paper also discusses the solutions to these problems.

关键词： modular robotics soft robotics gravity compensation

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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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Generation of Diversity in a Reaction-Diffusion-Based Controller

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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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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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Methodology for design of mechatronic robotic manipulators based on suitability for modern application scenarios

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IFAC-PapersOnLine 2017年第1期50卷 12727-12733页

作者： Müller, R. Vette, M. Geenen, A. Masiak, T. Kanso, A. ZeMA - Zentrum für Mechatronik und Automatisierungstechnik gemeinnützige GmbH Gewerbepark Eschberger Weg 46 Gebäude 9 Saarbrücken66121 Germany ZeMA - Zentrum fur Mechatronik und Automatisierungstechnik gemeinnützige GmbH Gewerbepark Eschberger Weg 46 Gebäude 9 Saarbrücken66121 Germany ZeMA - Zentrum für Mechatronik und Automatisierungstechnik gemeinnützige GmbH Gewerbepark Eschberger Weg 46 Gebäude 9 Saarbrücken66121 Germany

The demand for flexible and versatile robot systems rises due to the continuously increasing diversity and variants of the products as well as shortening product life cycles. Within the EU-funded research project FourByThree, ZeMA investigates various Human-Robot-Cooperation (HRC) robot systems such as welding and riveting. This research considers the three dimensions of production: product analysis, production process and production equipment. A methodology to design a mechatronic construction kit for modern applications is being worked on. This leads to the development of a HRC reconfigurable robot system. © 2017

关键词： Manipulators Design End effectors Life cycle robotics Human robot cooperation Model validation modular robotics Parameter varying systems Parametric optimization robotics technology Robots manipulators

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Social playware for mediating tele-play interaction over distance

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ARTIFICIAL LIFE AND robotics 2012年第4期16卷 435-440页

作者： Lund, Henrik Hautop Thorsteinsson, Tumi Tech Univ Denmark Ctr Playware Bldg 325 DK-2800 Lyngby Denmark

We suggest that novel playware technology can function as a mediator for playful social interaction over long distances, such as where people are separated by physical distance but feel the presence of each other mediated through their interaction with the playware technology. In order to investigate such social playware, we developed the Playware Soccer game and tested it with more than 1000 users during the FIFA World Cup 2010 in South Africa. The test was conducted in townships, orphanages for HIV/AIDS children, markets, FIFA fan parks, etc., along with simultaneous tests with similar set-ups in Europe and Asia. With the social playware, players would compete against each other simultaneously in three continents, Africa, Europe, and Asia, and feel the presence of the competitors on the other continents expressed through the playware. The playware game is set up to motivate players to engage in training in technical soccer skills by receiving immediate feedback and offering challenges to players of all skills at soccer. It is played on a modular interactive wall composed of modular interactive tiles that respond with colored lights, sounds, and scores of the players' performance. This article outlines the concept of social playware and physical-virtual tele-play, and exemplifies this with the playware soccer game.

关键词： Social playware modular robotics Tele-play Soccer

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modular robotic tiles: experiments for children with autism

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ARTIFICIAL LIFE AND robotics 2009年第2期13卷 394-400页

作者： Lund, Henrik Hautop Pedersen, Martin Dam Beck, Richard Tech Univ Denmark Ctr Playware DK-2800 Lyngby Denmark

We developed a modular robotic tile and a system composed of a number of these modular robotic tiles. The system composed of the modular robotic tiles engages the user in physical activities, e.g., physiotherapy, sports, fitness, and entertainment. The modular robotic tiles motivate the user to perform physical activities by providing immediate feedback based upon their physical interaction with the system. With the modular robotic tiles, the user is able to make new physical set-ups within less than a minute. The tiles are applicable for different forms of physical activities (e.g., therapeutic rehabilitation), and with the proper radio communication mechanism they may give unique possibilities for documentation of the physical activity (e.g., therapeutic treatment). A major point of concern in modular robotics is the connection mechanism, so we investigated different solutions for the connection between the modules, and outline their pros and cons for utilizing modules with different connection mechanisms as different kinds of playware. This kind of playware is highly motivating because of its immediate feedback and fun, interesting games.

关键词： modular robotics Human-robot interaction Playware Therapy

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An educational tool for interactive parallel and distributed processing

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ARTIFICIAL LIFE AND robotics 2012年第4期16卷 441-447页

作者： Pagliarini, Luigi Lund, Henrik Hautop Tech Univ Denmark Ctr Playware Bldg 325 DK-2800 Lyngby Denmark Accademia Belli Arti Macerata Via Berardi 6 I-62100 Macerata Italy

In this article we try to describe how the modular interactive tiles system (MITS) can be a valuable tool for introducing students to interactive parallel and distributed processing programming. This is done by providing a hands-on educational tool that allows a change in the representation of abstract problems related to designing interactive parallel and distributed systems. Indeed, the MITS seems to bring a series of goals into education, such as parallel programming, distributedness, communication protocols, master dependency, software behavioral models, adaptive interactivity, feedback, connectivity, topology, island modeling, and user and multi-user interaction which can rarely be found in other tools. Finally, we introduce the system of modular interactive tiles as a tool for easy, fast, and flexible hands-on exploration of these issues, and through examples we show how to implement interactive parallel and distributed processing with different behavioral software models such as open loop, randomness-based, rule-based, user interaction-based, and AI- and ALife-based software.

关键词： Education Distributed processing modular robotics Playware

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Wearing the playware

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ARTIFICIAL LIFE AND robotics 2010年第4期15卷 381-384页

作者： Pagliarini, Luigi Lund, Henrik Hautop Tech Univ Denmark Ctr Playware DK-2800 Lyngby Denmark Acad Fine Arts Bari Bari Italy

In this conceptual paper, we describe and define the range of possible applications, and the technical contours, of a robotic system to be worn on the body for playful interactions. Earlier work on a modular robotic wearable (MRW) described how, by using modular robotics to create a wearable, it is possible to obtain a flexible wearable processing system where freely interchangeable input/output modules can be positioned on a body suit in accordance with the task at hand. Here, we guide attention toward early prototypes to show the potentialities of such an approach, and focus on depicting possible applications in the electronic games domain. Indeed, the MRW is an example of modular playware which can create playful interactions for many application domains, including electronic games.

关键词： Wearable Playware modular robotics Art Physical games

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MORI-A CPS: 3D printed soft actuators with 4D assembly simulation

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ARTIFICIAL LIFE AND robotics 2023年第3期28卷 609-617页

作者： Abe, Shoma Ogawa, Jun Watanabe, Yosuke Shiblee, Md Nahin Islam Kawakami, Masaru Furukawa, Hidemitsu Yamagata Univ Dept Engn Yamagata Japan

Soft modular robotics combines soft materials and modular mechanisms. We are developing a vacuum-driven actuator module, MORI-A, which combines a 3D-printed flexible parallel cross structure with a cube-shaped hollow silicone. The MORI-A module has five deformation modes: no deformation, uniform contraction, uniaxial contraction, flexion, and shear. By combining these modules, soft robots with a variety of deformabilities can be constructed. However, assembling MORI-A requires predicting the deformation from the posture and mode of the modules, making assembly difficult. To overcome this problem, this study aims to construct a system called "MORI-A CPS," which can predict the motion of a soft robot composed of MORI-A modules by simply arranging cubes in a virtual space. This paper evaluates how well the motion of virtual MORI-A modules, defined as a combination of swelling and shrinking voxels, approximates real-world motion. Then, it shows that the deformations of virtual soft robots constructed via MORI-A CPS are similar to those of real robots.

关键词： modular robotics Soft actuator Agent-based modeling Cyber-physical system Distributed robot system

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