检索结果-内蒙古大学图书馆

17th International Conference on Intelligent Robotics and Applications

作者： Zhu, Boshi Peng, Jun An, Ningli Xi An Jiao Tong Univ Sch Mech Engn Xian 710049 Peoples R China Xian Univ Technol Fac Printing Packaging Engn & Digital Media Techn Xian 710048 Peoples R China

ISBN: (纸本)9789819607976;9789819607983

Traditional robots are developed to achieve specific goals or functions. They are mostly tracked, footed, rod-type and other structures. They are suitable for structured scenes such as flat ground, slopes, walls, etc. They are obviously restricted by the terrain. At the same time, the functions are relatively simple. After the whole machine is designed and manufactured, the functions cannot be easily expanded. Compared with traditional robots, modular robots have the advantages of diversity, reliability and scalability, and are more suitable for unstructured scenes. This paper summarizes the common chain-type, crystal-type and hybrid modular robots from the perspective of structural morphology. On this basis, this paper proposes a spherical robot unit as the base unit of the modular robot and completes the body construction of the base unit through structural and circuit design. The modified D-H parameter method and Newtoon-Euler method are used to complete the kinematic and dynamic modeling respectively, and the motion simulation of "BaseUnit" is realized in the Simscape Multibody simulation environment, which preliminarily verifies the feasibility of BaseUnit to realize the self-reconfigurable modular robot system.

关键词： modular robots Spherical Unit Structural Design Kinematic Analysis

来源：评论

学校读者我要写书评

暂无评论

A Sequential Hermaphrodite Coupling Mechanism for Lattice-based modular robots

A Sequential Hermaphrodite Coupling Mechanism for Lattice-ba...

引用

2025 IEEE International Conference on Mechatronics, ICM 2025

作者： Torii, Keigo Uno, Kentaro Santra, Shreya Yoshida, Kazuya Department of Aerospace Engineering Sendai Japan

ISBN: (纸本)9798331533892

Lattice-based modular robot systems have been envisioned for large-scale construction in extreme environments, such as space. To optimize system weight and power consumption, heterogeneous approaches combining active and passive coupling interfaces have been explored. Coupling mechanisms for heterogeneous structural modules must satisfy challenging requirements: maintaining flat surfaces when uncoupled, enabling single-sided coupling and decoupling, and compatibility with passive interfaces. We propose a novel mechanical coupling mechanism that addresses these challenges by actively transitioning between male and female states. The design integrates multiple practical features: 90° rotational symmetry, electrical pathways for communication and power supply, and mechanical hooks that maintain secure connections even without power. Experimental validation demonstrated the reliability and practicality of the mechanism, confirming its tolerance to misalignment, the sufficient load capacity, and effectiveness of its current-based failsafe system. This coupling mechanism represents the first solution to simultaneously achieve these capabilities, enabling efficient and reliable reconfiguration of heterogeneous modular robotic systems. © 2025 IEEE.

关键词： modular robots

来源：评论

学校读者我要写书评

暂无评论

Module Addition-Aware Dynamic Shape Recognition for Lattice-Based modular robots 5

Module Addition-Aware Dynamic Shape Recognition for Lattice-...

引用

5th IEEE Middle East and North Africa COMMunications Conference, MENACOMM 2025

作者： Bassil, Jad Piranda, Benoit Makhoul, Abdallah Bourgeois, Julien Univ. Franche-Comté FEMTO-ST Institute CNRS Montbéliard25200 France

ISBN: (纸本)9798331519957

Self-Reconfigurable modular robots typically consist of high number of modules with uniform docking interfaces, allowing them to transform into various shape. Recognizing the shape of such a system composed of hundreds of modules is a significant challenge. Given a new configuration, a modular robots system must be able to determine and update its shape dynamically and in a distributed manner. In a previous work, we developed an algorithm that identifies overlapping boxes to cover the entire robot configuration through message-passing, enabling robots to determine a representation of their current shape. However, this algorithm was static and did not react to changes in real time. In this paper, we introduce an updated shape recognition algorithm that dynamically and in real-Time recognizes the addition of modules to update the shape description of the entire configuration using local information. The dynamic algorithm to update the shape description is tested in a simulated environment and compared to re-executing the shape recognition algorithm on the whole configuration. The results show the efficiency of our algorithm in updating the robot's current shape in real time. © 2025 IEEE.

关键词： modular robots

来源：评论

学校读者我要写书评

暂无评论

Information Diffusion in modular robots and Drone Networks 5

Information Diffusion in Modular Robots and Drone Networks

引用

5th IEEE Middle East and North Africa COMMunications Conference, MENACOMM 2025

作者： Mattar, Charbel Gemayel, Joseph Abdo, Jacques Bou El Gemayel, Charbel Makhoul, Abdallah Demerjian, Jacques Computer Science Antonine University TICKET Lab Technology Lebanon University of Cincinnati School of Information Technology United States University of Franche-Comté France Femto-St Institute UMR 6174 CNRS Besançon France Lebanese University LaRRIS Faculty of Sciences Lebanon Holy Spirit University of Kaslik Lebanon

ISBN: (纸本)9798331519957

Space Internet of Things (IoT) is growing to include complex systems like modular robots and space information networks (SIN) which necessitates efficient information diffusion mechanisms. This study investigates the performance of key diffusion algorithms, like Susceptible-Infected-Susceptible (SIS) and Susceptible-Infected-Recovered (SIR), Independent Cascade Model (ICM), and Linear Threshold Model (LTM), in drone networks and modular robots. Using the NS-3 simulator for, a new layer in SIN, drone networks and VisibleSim for modular robots, we assess these algorithms based on drop rate, nodes infected percentage at the end of the simulation, and throughput per node. Our findings provide insights into the suitability of these algorithms in lattice network topology and can guide the development of more reliable communication strategies in Space IoT environments. © 2025 IEEE.

关键词： modular robots

来源：评论

学校读者我要写书评

暂无评论

Space-Filling Truncated Octahedron Climbing modular robots for the Construction of High-Rise Structures on the Lunar Surface

Space-Filling Truncated Octahedron Climbing Modular Robots f...

引用

2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Mitsunaga, Haruho Noda, Akio Osaka Institute of Technology Faculty of Robotics & Design 1-45 Chayamachi Kita-ku Osaka Osaka City Japan

ISBN: (纸本)9798331531614

On the lunar surface, modular robots that can perform multiple tasks through coupling, decoupling, and reconfiguration are expected to play a significant role due to considerations of cost, work efficiency, and fault tolerance. One of the tasks on the lunar surface is the construction of high-rise solar power towers to secure power sources. This study proposes a construction method using modular robots to build high-rise structures on the lunar surface. The shape of both the robots and the structural modules is designed as truncated octahedrons, and four prototypes of these modules have been developed in this study. Additionally, we have previously proposed a method for determining the configuration, position, and posture of modules by discretizing space into truncated octahedron shapes, focusing on their space-filling properties. In this paper, we propose a construction method for building high-rise structures using both the previously prototyped modules and newly propose modules. Significant points of these proposing concept is based on discretizing the workspace using three-dimensional shapes and implements methods of an automated system for the desired task, which can be said that the proposed methods form an efficient and coherent system integration platform on the target missions. © 2025 IEEE.

关键词： modular robots

来源：评论

学校读者我要写书评

暂无评论

Transformable modular robots: A CPG-Based Approach to Independent and Collective Locomotion

arXiv

引用

arXiv 2025年

作者： Ding, Jiayu Jakkula, Rohit Xiao, Tom Gan, Zhenyu The Department of Mechanical and Aerospace Engineering Syracuse University SyracuseNY13244 United States

modular robotics offers a promising approach for developing versatile and adaptive robotic systems capable of autonomous reconfiguration. This paper presents a novel modular robotic system in which each module is equipped with independent actuation, battery power, and control, enabling both individual mobility and coordinated locomotion. The system employs a hierarchical Central Pattern Generator (CPG) framework, where a low-level CPG governs the motion of individual modules, while a high-level CPG facilitates inter-module synchronization, allowing for seamless transitions between independent and collective behaviors. To validate the proposed system, we conduct both simulations in MuJoCo and hardware experiments, evaluating the system’s locomotion capabilities under various configurations. We first assess the fundamental motion of a single module, followed by two-module cooperative locomotion. The results demonstrate the effectiveness of the CPG-based control framework in achieving robust, flexible, and scalable locomotion. The proposed modular architecture has potential applications in search-and-rescue operations, environmental monitoring, and autonomous exploration, where adaptability and reconfigurability are essential for mission success. © 2025, CC BY.

关键词： modular robots

来源：评论

学校读者我要写书评

暂无评论

Holistic Optimization of modular robots

arXiv

引用

arXiv 2025年

作者： Mayer, Matthias Althoff, Matthias Technical University of Munich TUM School of Computation Information and Technology Robotics Artificial Intelligence and Real-time Systems Boltzmannstrasse 3 Garching85748 Germany

modular robots have the potential to revolutionize automation as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require different base positions and trajectories to fully use the potential of modular robots. We address this problem holistically for the first time by jointly optimizing the composition, base placement, and trajectory, to minimize the cycle time of a given task. Our approach is evaluated on over 300 industrial benchmarks requiring point-to-point movements. Overall, we reduce cycle time by up to 25 % and find feasible solutions in twice as many benchmarks compared to optimizing the module composition alone. In the first real-world validation of modular robots optimized for point-to-point movement, we find that the optimized robot is successfully deployed in nine out of ten cases in less than an hour. Copyright © 2025, The Authors. All rights reserved.

关键词： modular robots

来源：评论

学校读者我要写书评

暂无评论

Flexible kinematics for modular robots

引用

MICROPROCESSORS AND MICROSYSTEMS 1995年第9期19卷 525-532页

作者： Tarchanidis, KN Mackay, AS Lucas, J UNIV LIVERPOOL DEPT ELECT ENGN & ELECTRLIVERPOOL L69 3BXMERSEYSIDEENGLAND

Industry uses an enormous variety of robots with different capabilities to perform different tasks. A possible alternative might be to use modular robots. These could be assembled with a combination of joints, links, tools and sensors as required to perform a particular task. This would require a robot control system which could be readily set up to control an arbitrary robot configuration. This paper describes the implementation of a modification of the Newton-Raphson algorithm to produce the inverse kinematics solutions to fulfil this requirement. The system is based on using the parallel processing capabilities of the Inmos transputer. Positioning accuracy experimental results from two robots are presented.

关键词： modular robots flexible control inverse kinematics

来源：评论

学校读者我要写书评

暂无评论

Design of a miniature switchable connection system for stochastic modular robots

引用

SENSORS AND ACTUATORS A-PHYSICAL 2012年第1期173卷 267-276页

作者： Fu, Guoqiang Menciassi, Arianna Dario, Paolo Chinese Acad Sci Ctr Intelligent & Biomimet Syst Shenzhen Inst Adv Technol Shenzhen 518055 Peoples R China Scuola Super Sant Anna BioRobot Inst I-56025 Pisa Italy

This paper presents the design and implementation of a Miniature SwitchAble (MISA) connection system for stochastic modular robots. The MISA connector consists of attaching, aligning, locking, detaching and holding mechanisms. The connection function can be switched on and off by controlling shape memory alloy (SMA) actuators. Furthermore, it possess functions of self-attachment and self-alignment through magnetic interaction under random collision condition. The design details and prototype construction are presented. The preliminary experiments and results demonstrate feasibility and performance of this miniature connector. The potential application is to integrate it into modular microrobots. (C) 2011 Elsevier B.V. All rights reserved.

关键词： Magnetic interaction modular robots Shape memory alloy actuator Stochastic self-assembly Switchable connection system

来源：评论

学校读者我要写书评

暂无评论

Pareto Optimal Reconfiguration Planning and Distributed Parallel Motion Control of Mobile modular robots

引用

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2024年第8期71卷 9255-9264页

作者： Zhang, Chen Zhou, Lelai Li, Yibin Shandong Univ Ctr Robot Sch Control Sci & Engn Jinan 250061 Peoples R China Minist Educ Engn Res Ctr Intelligent Unmanned Syst Jinan 250061 Peoples R China

Aiming at improving the efficiency of reconfiguration of mobile modular robots, the optimal reconfiguration planning and parallel control method are proposed in this work. The number of moving modules, the number of undocking actions, and the total moving distance are considered in reconfiguration optimization with the lexicographic framework. The maximum common subgraph matching and searching tree are proposed to search the Pareto optimal solution. A distributed controller based on local consensus is designed for components that are rigidly connected by different numbers of modules and under different shapes. Parallel motion in the shared workspace brings a high efficiency of reconfiguration. The simulations and real-world experiments verify the effectiveness of our method.

关键词： robots Shape Planning Topology Pareto optimization Service robots Mobile robots Distributed control modular robots multirobot systems reconfiguration control

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：