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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Cameron, Christopher G. Fredin, Zach Gershenfeld, Neil DEVCOM Army Res Lab Aberdeen MD 21005 USA MIT Ctr Bits & Atoms 77 Massachusetts Ave Cambridge MA 02139 USA

ISBN: (数字)9781665405935

ISBN: (纸本)9781665405935

We introduce a modular construction kit for rapidly assembling multi-copter unmanned aerial systems (UAS). The kit consists of voxelized building blocks based on a discrete, face-baced decomposition of a cuboctahedral lattice using a circuit board substrate. These voxel building blocks provide the structure of the vehicle, but also create electrical connections for routing power as well as command and control signals. Functional modules including propulsors, power storage, and command and control are designed to interface with the cuboctahedral lattice to create a complete vehicle. We use the system to assemble a 2.6 kg quadcopter UAS in 22 minutes, flight test the resulting vehicle, then disassemble it into components ready for reuse. We examine how the system scales to larger designs, and compare build times and performance with a comparable commerical UAS and equivalent designs built using additive manufacturing.

关键词： UAS Applications modular robotics Additive Manufacturing

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modular Field Robots for Extraterrestrial Exploration

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Advances in Astronautics Science and Technology 2020年第1期3卷 37-47页

作者： Cordie, Troy Steindl, Ryan Dungavell, Ross Bandyopadhyay, Tirthankar The Robotics and Autonomous Systems Group CSIRO 1 Technology Ct Pullenvale 4069 QLD Australia The Robotics and Autonomous Systems Group Queensland University of Technology 2 George St Brisbane 4000 QLD Australia

modular design methodology enables rapid reconfigurability for functional changes, robustness to failures and space utilisation for transportation. In the case of planetary exploration robots, there is promise in modular robots that are able to reconfigure themselves for exploration of unknown terrains. This paper presents a design and controller architecture for modular field robots that can be rapidly assembled in a variety of functional configurations. A key challenge of building a functional robot out of modular units is the ability to seamlessly add, remove and replace individual units to enable functional improvements as well as adapt to terrain requirements. We present a representative modular wheel design and a distributed controller architecture able to create a range of bespoke multi-wheeled configurations capable of traversal on a variety of terrains during simulated failure scenarios. The self-contained wheeled unit has energy, computation communication, and actuation modules and does not require any modification or physical customization in the field during deployment enabling a seamless plug and play behaviour. The hierarchical control structure runs a body controller node that decomposes a whole body motion requested from a higher level planner to generate a sequence of actuation goals for each of the modules, while a local controller node running on each of the modules ensures that the desired actuation is adapted to the configuration, load and terrain characteristics. © 2020, Chinese Society of Astronautics.

关键词： Graceful degradation Mobile robots modular robotics Robot motion Uncrewed autonomous vehicles

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Evolutionary synthesis of dynamic motion and reconfiguration process for a modular robot M-TRAN

Evolutionary synthesis of dynamic motion and reconfiguration...

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IEEE International Symposium on Computational Intelligence in robotics and Automation

作者： Yoshida, E Murata, S Kamimura, A Tomita, K Kurokawa, H Kokaji, S AIST Intelligent Syst Inst Tsukuba Ibaraki 3058564 Japan

ISBN: (纸本)0780378660

In this paper we present a couple of evolutionary motion generation methods using genetic algorithms (GA) for self-reconfigurable modular robot M-TRAN and demonstrate their effectiveness through hardware experiments. Using these methods, feasible solutions with sufficient performance can be derived for a motion generation problem with high complexity coming from huge configuration and motion possibilities of the robot. The first method called ERSS (Evolutionary Reconfiguration Sequence Synthesis) applies GA (Genetic Algorithm) to evolution of motion sequence including configuration changes though natural genetic representation. The effectiveness of the generated full-body dynamic motions are verified through hardware experiments. The second method called ALPG (Automatic Locomotion Pattern Generation) Method seeks locomotion pattern using a neural oscillator as a CPG (Central Pattern Generator) model and GA to optimize the parameters for locomotion. A number of efficient locomotion patterns has been derived, which are also experimentally verified.

关键词： modular robotics self-reconfiguration evolutionary computation motion generation genetic algorithms CPG

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The deformatron robot: a biologically inspired homogeneous modular robot

The deformatron robot: a biologically inspired homogeneous m...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Stoy, Kasper Univ So Denmark Maersk McKinney Moller Inst Prod Technol Odense Denmark

ISBN: (纸本)0780395050

The Deformatron robot is a homogeneous, modular robot. The Deformatron modules can play one of three roles in the physical structure of the robot: bone, tendon, and muscle. These roles are inspired by their biological counterparts. This combination of roles gives us a modular robot which potentially may have enough structural strength and actuation power to manipulate its environment and work in three dimension even in the presence of gravity. In this paper we present our preliminary LEGO-based prototype of the Deformatron robot. We measure and analyse the properties of the system in terms of structural strength and actuation power. Finally, we conclude that the Deformatron concept may provide an avenue of research which may make modular robots stronger and better suited for real world task environments.

关键词： modular robotics embodied artificial intelligence

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usBot: A modular Robotic Testbed for Programmable Self-Assembly 8

usBot: A Modular Robotic Testbed for Programmable Self-Assem...

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8th International-Federation-of-Automatic-Control (IFAC) Symposium on Mechatronic Systems (MECHATRONICS) / 11th International-Federation-of-Automatic-Control (IFAC) Symposium on Nonlinear Control Systems (NOLCOS)

作者： Fiaz, Usman A. Shamma, Jeff S. Univ Maryland Dept Elect & Comp Engn College Pk MD 20742 USA King Abdullah Univ Sci & Technol Comp Elect & Math Sci & Engn Div Thuwal Saudi Arabia

We present the design, characterization, and experimental results for a new modular robotic system for programmable self-assembly. The proposed system uses the Hybrid Cube Model (HCM), which integrates classical features from both deterministic and stochastic self-organization models. Thus, for instance, the modules are passive as far as their locomotion is concerned (stochastic), and yet they possess an active undocking routine (deterministic). The robots are constructed entirely from readily accessible components and unlike many existing robots, their excitation is not fluid mediated. Instead, the actuation setup is a solid state, independently programmable, and highly portable platform. The system is capable of demonstrating fully autonomous and distributed stochastic self-assembly in two dimensions. It is shown to emulate the performance of several existing modular systems and promises to be a substantial effort towards developing a universal testbed for programmable self-assembly. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： robotics modular robotics mechanisms mechatronic systems multi-agent systems

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A Cyber-Physical System Approach for the Design of a modular Smart Robotic Cell 42

A Cyber-Physical System Approach for the Design of a Modular...

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42nd Annual Conference of the IEEE-Industrial-Electronics-Society (IECON)

作者： Cristalli, Cristina Boria, Sebastien Massa, Daniele Lattanzi, Luca Concettoni, Enrico AEA Srl Loccioni Grp Via Fiume 16 Angeli Di Rosora Italy Airbus SAS CoC Ind Stategy & Syst POB COP0A5 1 Rond Point Maurice Bellonte Blagnac France

ISBN: (纸本)9781509034741

This paper presents a novel methodology in the development of robotic cells for industrial applications. The proposed approach exploits the Cyber-Physical System philosophy and concepts, thus making the robotic cell flexible, reconfigurable and adaptable. The final robotic cell is therefore composed by several interconnected embedded systems, exchanging information and cooperating among them for the proper execution of the final requested task. The modular nature and architecture of the described solution makes the cell "smart", in terms of easy reconfiguration and adaptation for different tasks and applications. The presented Smart Robotic Cell has been implemented and tested in a real industrial use-case, validating the flexibility and efficiency of the developed approach, thus confirming the Smart Robotic Cell as one of the main elements of the industrial shopfloor in the Factory of the Future context.

关键词： Smart manufacturing modular robotics industry 4.0 cyber-physical systems factory of the future

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Impact of Neuron Models and Network Structure on Evolving modular Robot Neural Network Controllers 12

Impact of Neuron Models and Network Structure on Evolving Mo...

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14th International Conference on Genetic and Evolutionary Computation Conference (GECCO)

作者： Cazenille, Leo Bredeche, Nicolas Hamann, Heiko Stradner, Juergen Univ Paris 11 CNRS INRIA TAO LRI F-91405 Orsay France

ISBN: (纸本)9781450311779

This paper investigates the properties required to evolve Artificial Neural Networks for distributed control in modular robotics, which typically involves non-linear dynamics and complex interactions in the sensori-motor space. We investigate the relation between macro-scale properties (such as modularity and regularity) and micro-scale properties in Neural Network controllers. We show how neurons capable of multiplicative-like arithmetic operations may increase the performance of controllers in several ways whenever challenging control problems with non-linear dynamics are involved. This paper provides evidence that performance and robustness of evolved controllers can be improved by a combination of carefully chosen micro- and macro-scale neural network properties.

关键词： Evolutionary robotics Artificial Neural Networks Evolutionary Algorithms modular robotics

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A self-reconfigurable modular robot: Reconfiguration planning and experiments

A self-reconfigurable modular robot: Reconfiguration plannin...

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7th International Symposium on Experimental robotics

作者： Yoshida, E Murata, S Kamimura, A Tomita, K Kurokawa, H Kokaji, S Natl Inst Adv Ind Sci & Technol AIST Intelligent Syst Inst Distributed Syst Design Res Grp Tsukuba Ibaraki 3058564 Japan

In this paper we address a reconfiguration planning method for locomotion of a homogeneous modular robotic system and we conduct an experiment to verify that the planned locomotion can be realized by hardware. Our recently developed module is self-reconfigurable. A group of the modules can thus generate various three-dimensional robotic structures and motions. Although the module itself is a simple mechanism, self-reconfiguration planning for locomotion presents a computationally difficult problem due to the many combinatorial possibilities of modular configurations. In this paper, we develop a two-layered planning method for locomotion of a class of regular structures. This locomotion mode is based on multi-module blocks. The upper layer plans the overall cluster motion called flow to realize locomotion along a given desired trajectory;the lower layer determines locally cooperative module motions, called motion schemes, based on a rule database. A planning simulation demonstrates that this approach effectively solves the complicated planning problem. Besides the fundamental motion capacity of the module, the hardware feasibility of the planning locomotion is verified through a self-reconfiguration experiment using the prototype modules we have developed.

关键词： self-reconfigurable robot modular robotics planning hierarchical planner experimental robotics

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Preliminary Design and Analysis of a modular Autonomous Mobile Robot for Vineyard Operations 7th

Preliminary Design and Analysis of a Modular Autonomous Mobi...

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7th Ragusa International Conference on Safety, Health and Welfare in Agriculture and Agro-Food Systems (SHWA)

作者： Calciolari, Luca Pantano, Matteo Pantano, Giorgio Conchere, Gianmaria Univ Padua Dept Ind Engn Via Gradenigo 6-A I-35131 Padua Italy Azienda Agr Giorgio Pantano Via Straddle 40 I-35020 Candiana PD Italy Univ Padua Dept ICEA Via Venezia 1 I-35131 Padua Italy

ISBN: (纸本)9783031635069;9783031635045;9783031635038

robotics is affecting more and more different sectors. In particular automation of agricultural processes could bring several advantages by reducing waste and human effort, that's why several robots to perform a wide range of agricultural tasks are in development. However, the design of a multi-purpose robot for vineyard operations presents still some challenges like its hardware adaptability and compatibility. To tackle some of these challenges, this paper presents the conceptual design of a modular autonomous mobile robot for vineyard operations. The aim of this work is to provide design principles for a modular robot able to perform multiple tasks that are common for vine growers, such as green pruning, winter pruning and spraying. The main advantages of such a robot are multiple. First, it can be considered eco-friendly as it can reduce chemicals consumption, polluting emissions and soil compaction. Second, it can minimize the need for manpower, that means less repetitive tasks to be done and less exposure to chemicals. Finally, its modularity can allow to easily switch tools and to re-design some modules with little changes to other features. For designing this system, we adopted a design thinking approach. Thus, first requirements and concepts were created and evaluated via interviews of vine growers. Second, concepts were classified upon the evaluation. And last, the winning prototype was designed with Solidworks CAD software and evaluated on its mechanical and functional properties via a FEM analysis. By using this method, we have developed an initial design for a multipurpose robot that concentrates on the drive system and the serial hybrid powertrain design, the selection of the structure, the tool design, and their incorporation with the frame, as well as an initial estimation of the mass to conduct a preliminary FEM static analysis of the frame. As a result, we have evaluated the feasibility of the concept and identified the key features of all subsystem

关键词： modular robotics Mobile robotics Vineyard Spraying Agricultural Automation Winter Pruning

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ChainFORM: A Linear Integrated modular Hardware System for Shape Changing Interfaces 16

ChainFORM: A Linear Integrated Modular Hardware System for S...

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29th Annual Symposium on User Interface Software and Technology (UIST)

作者： Nakagaki, Ken Dementyev, Artem Follmer, Sean Paradiso, Joseph A. Ishii, Hiroshi MIT Media Lab Cambridge MA 02139 USA Stanford Univ Stanford CA 94305 USA

ISBN: (纸本)9781450345316

This paper presents ChainFORM: a linear, modular, actuated hardware system as a novel type of shape changing interface. Using rich sensing and actuation capability, this modular hardware system allows users to construct and customize a wide range of interactive applications. Inspired by modular and serpentine robotics, our prototype comprises identical modules that connect in a chain. Modules are equipped with rich input and output capability: touch detection on multiple surfaces, angular detection, visual output, and motor actuation. Each module includes a servo motor wrapped with a flexible circuit board with an embedded microcontroller. Leveraging the modular functionality, we introduce novel interaction capability with shape changing interfaces, such as rearranging the shape/configuration and attaching to passive objects and bodies. To demonstrate the capability and interaction design space of ChainFORM, we implemented a variety of applications for both computer interfaces and hands-on prototyping tools.

关键词： Actuated Curve Interfaces Shape Changing Interfaces modular robotics

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