检索结果-内蒙古大学图书馆

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

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

Linear-Time Reconfiguration of Sliding-Only Cubic modular robots Under Severe Space Requirements

引用

IEEE ROBOTICS AND AUTOMATION LETTERS 2023年第12期8卷 8176-8183页

作者： Kawano, Hiroshi NTT Corp NTT Commun Sci Labs Atsugi Kanagawa 2430198 Japan

This article presents a fast reconfiguration algorithm for cubic modular robots moving in narrow spaces. We assume that the cubic module can only slide across other modules' surfaces, which saves space compared with previously studied cubic modules, such as those with rotating primitives. The algorithm can take arbitrary start and goal configurations and arrangements thereof and operates in a time that is linear to the number of modules. The algorithm is designed for cases with multiple overlapping regions between the start and goal configurations as well as cases with only one overlapping region. It assumes the use of a 2 x 2 x 2 meta-module robot structure for connectivity and mobility. It consists of two stages. In the first stage, a compact scaffolding structure is formed that does not extend outside the space of the start and goal configurations. In the second stage, the modules reconfigure themselves by moving along the scaffolding structure. We proved the completeness of the algorithm, and performed simulations showing that the algorithm can reconfigure a 2 x 2 x 2 meta-module robot structure with sliding-only cubic modules within a time that grows linearly with the number of modules.

关键词： modular robots multi-robot systems

来源：评论

学校读者我要写书评

暂无评论

Efficient Balance Detection for modular robots

Efficient Balance Detection for Modular Robots

引用

2024 International Conference on Intelligent robots and Systems

作者： Yazidi, Ikrame Piranda, Benoit Ouisse, Morvan Bourgeois, Julien

ISBN: (纸本)9798350377712;9798350377705

In this paper, we explore the field of self-reconfigurable modular robots, representing a significant advance in robotic technology. These robots have many capabilities, offering high adaptability and flexibility for a variety of applications. However, computing the stability is challenging as it is computationally intensive, it needs to be distributed and fast, as close as possible of real-time. In this article, we introduce a distributed algorithm designed to overcome these challenges while taking mechanical constraints into account. At the heart of this algorithm is the notion of the "support polygon", which enables the stability of a modular robot to be assessed in real time. The algorithm is based on a fully distributed tree partitioning approach, facilitating efficient communication and collaboration between modules. The algorithm also uses a polygon merging approach to reduce the number of messages when creating the polygon support, thus significantly reducing response time. In fact, the response time of the method used is very small compared to other research. We also present simulation results on a simulator, VisibleSim, as well as experimental validation on real robotic modules, which underlines the practical viability of the approach. Overall, this work lays a solid base for further advances aiming to guarantee the stability of modular robots.

关键词： modular robots Distributed algorithms Stability Support polygon

来源：评论

学校读者我要写书评

暂无评论

Design and Kinematic Simulation Analysis of Spherical modular robots 17th

Design and Kinematic Simulation Analysis of Spherical Modula...

引用

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

A Shared Electrical-Pneumatic and Reversible Locking Intermodule Connector for modular robots

A Shared Electrical-Pneumatic and Reversible Locking Intermo...

引用

IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Knospler, Joshua Xue, Wei Trkov, Mitja Rowan Univ Dept Mech Engn 201 Mullica Hill Rd Glassboro NJ 08028 USA

ISBN: (纸本)9798350355376;9798350355369

With the increasing popularity of modular robotics, there has been an increasing need for reliable and strong connections between module units. This paper introduces two novel connectors, PAC (Power, Air, Communication) and MagLink (Magnetic Link), designed to advance the interconnectivity of modular robots and actuators. The PAC connector centralizes air, power, and communication in a single housing that simplifies integration and minimizes wiring complexities. Meanwhile, the MagLink connector employs a reversible, low power magnetic locking mechanism, ensuring robust and secure connections between robotic components. Both connectors can be integrated in a single compact unit. We characterized PAC connector in terms of maximum pressure, air flow, and sealing capabilities. MagLink was characterized in terms of connection strength, magnetic field/attractive forces to connect, alignment capture space, and power consumption. MagLink advantages are its low power consumption and 13-fold increase in strength compared to the regular magnetic connection. Together, PAC and MagLink herald a new opportunity in modular robotics, offering high force-to-weight ratio (6.4 N/g), high strength-to-power consumption ratio, reliable electrical connection, and pressure handling capabilities of at least 50 psi (0.34 MPa) packaged in a compact design that can be used across a wide range of robotic configurations. This research presents a step forward toward efficient electro-mechanical-pneumatic connectors for self-reconfigurable modular robots, promising practical solutions for a broad range of modular robotic applications.

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

Receding task allocation method for modular robots during on-orbit assembly

引用

ADVANCES IN SPACE RESEARCH 2022年第3期70卷 780-791页

作者： Chai, Yuan Luo, Jianjun Wang, Mingming Gao, Dengwei Northwestern Polytech Univ Sch Astronaut Sci & Technol Aerosp Flight Dynam Lab Xian 710072 Peoples R China China Ordnance Ind 203 Res Inst Xian 710065 Peoples R China

On-orbit assembly of large infrastructures plays a pivotal role in future space missions. Taking the process of extraction of one assembling object, its transportation and placement by one or several modular robots as a single-robot (SR) or multi-robot (MR) assembling tasks, this paper investigates the problem of designing a task allocation method, so as to realize the adaptive coordination among modular robots. A receding task allocation method is developed to solve this problem in a dynamic and decentralized manner. By proposing the receding-task strategy, the allocation over all tasks is formulated as the allocations at each triggering time over receding tasks to reduce the online computational complexity, where the receding optimization and triggering mechanism based on real-time information can improve the adaptability to a dynamic environment. In order to satisfy the precedence constraints from assembly sequence and the special task requirements about MR tasks, a decentralized algorithm which is an extension of the consensus based bundle algorithm is designed for the allocation of receding tasks, which can reduce the online computational burden of individuals. Numerical simulations are carried out to validate the performance of the proposed method. (C) 2022 COSPAR. Published by Elsevier B.V. All rights reserved.

关键词： Task allocation On-orbit assembly modular robots

来源：评论

学校读者我要写书评

暂无评论

Reconfiguration Algorithms for Cubic modular robots with Realistic Movement Constraints 19

Reconfiguration Algorithms for Cubic Modular Robots with Rea...

引用

19th Scandinavian Symposium on Algorithm Theory, SWAT 2024

作者： Brunner, Josh Cheung, Kenneth C. Demaine, Erik D. Diomidova, Jenny Gregg, Christine Hendrickson, Della H. Kostitsyna, Irina Massachusetts Institute of Technology CambridgeMA United States NASA Ames Research Center Moffett FieldCA United States KBR at NASA Ames Research Center Moffett FieldCA United States

ISBN: (纸本)9783959773188

We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy an exact unit cube, but rather have features like bumps extending outside the allotted space so that modules can interlock. Thus, for example, our model forbids modules from squeezing in between two other modules that are one unit distance apart. Second, our model captures the practical scenario of many passive modules assembled by a single robot, instead of requiring all modules to be able to move on their own. We prove two universality results. First, with a supply of auxiliary modules, we show that any connected polycube structure can be constructed by a carefully aligned plane sweep. Second, without additional modules, we show how to construct any structure for which a natural notion of external feature size is at least a constant;this property largely consolidates forbidden-pattern properties used in previous works on reconfigurable modular robots. © MIT–NASA Space robots Team, Josh Brunner, Kenneth C. Cheung, Erik D. Demaine, Jenny Diomidova, Christine Gregg, Della H. Hendrickson, and Irina Kostitsyna;licensed under Creative Commons License CC-BY 4.0.

关键词： modular robots

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：