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An empirical evaluation of a hierarchical reinforcement learning method towards modular robot control

ARTIFICIAL LIFE AND robotICS 2025年第2期30卷 245-251页

作者： Takeda, Sho Yamamori, Satoshi Yagi, Satoshi Morimoto, Jun Kyoto Univ Grad Sch Informat Kyoto Japan ATR Dept Brain Robot Interface Computat Neurosci Labs Kyoto Japan

There is a growing expectation that deep reinforcement learning will enable multi-degree-of-freedom robots to acquire policies suitable for real-world applications. However, a robot system with a variety of components requires many learning trials for each different combination of robot modules. In this study, we propose a hierarchical policy design to segment tasks according to different robot components. The tasks of the multi-module robot are performed by skill sets trained on a component-by-component basis. In our learning approach, each module learns reusable skills, which are then integrated to control the whole robotic system. By adopting component-based learning and reusing previously acquired policies, we transform the action space from continuous to discrete. This transformation reduces the complexity of exploration across the entire robotic system. We validated our proposed method by applying it to a valve rotation task using a combination of a robotic arm and a robotic gripper. Evaluation based on physical simulations showed that hierarchical policy construction improved sample efficiency, achieving performance comparable to the baseline with 46.3% fewer samples.

关键词： Hierarchical reinforcement learning modular reinforcement learning Multitask manipulation modular robot

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A Locomotion Control Method for modular robot Based on PPO Algorithm 17th

A Locomotion Control Method for Modular Robot Based on PPO A...

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17th International Conference on Intelligent robotics and Applications

作者： Zhang, Haoxiang Zhao, Sikai Wang, Ziqi Liu, Junchen Zhang, Qinghua Qi, Jian Zhao, Jie Zhu, Yanhe Harbin Inst Technol State Key Lab Robot & Syst Harbin 150000 Peoples R China

ISBN: (纸本)9789819607976;9789819607983

Due to the complexity and variety of module robot, the classic planning method can hardly give out a general algorithm that fits most combination. In order to maintain the advantage of module robot's rapid deployment and avoid the problem of complex solution, this essay give out an automatic solution to easily generate certain combination from text description of a module robot combination. During the setup phase of the physical environment, different environmental parameters are studied and considered for their impact on the planning methods obtained by the algorithm, comparing the adaptability of different planning strategies to the environment, then start to train the combination to do various tasks like moving and posing with fixed hyper-parameter, the research focuses on designing observation functions and reward functions as evaluation mechanisms and using reinforcement learning to obtain corresponding planning models. After training complete under Isaac Gym, the network was stored in a library for fast fetch. By applying this method to minimize the time consumption for locomotion planning, managed to accomplish just-in-time planning for each module robot combination that has been given.

关键词： modular robot Reinforcement Learning Data Structure

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Study of Positioning Accuracy Parameters in Selected Configurations of a modular Industrial robot-Part 1

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SENSORS 2025年第1期25卷 108-108页

作者： Suszynski, Marcin Wisniewski, Marcin Wojciechowicz, Kajetan Traczynski, Marek Butlewski, Marcin Cernohlavek, Vit Talar, Rafal Poznan Univ Tech Inst Mech Technol PL-60965 Poznan Poland Univ Jan Evangelista Purkyne Usti nad Labem Fac Mech Engn Usti Nad Labem 40096 Czech Republic

This article presents the fundamental principles of robot accuracy. It characterizes a modular robot, describes the measurement setup, and outlines the methodology for evaluating positioning accuracy across different configurations of the modular robot (four, five, and six modules) under varying loads of 6, 10, and 16 kg. An analysis was conducted on the impact of load changes on four- and five-module configurations, as well as the effect of configuration changes on the robot's performance with 6 and 10 kg loads. The findings indicate that both the number of modules and the load affect positioning accuracy. This article highlights the importance of selecting the optimal configuration based on planned industrial tasks to ensure the highest precision and operational efficiency.

关键词： industrial robot modular robot robot accuracy robot configuration

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A programmable actuator for combined motion and connection and its application to modular robot

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MECHATRONICS 2019年 58卷 9-19页

作者： Zhu, Li El Baz, Didier Univ Toulouse LAAS CNRS CNRS Toulouse Toulouse France

This paper proposes a new type of actuator at millimeter scale, which is based on Simplified Electro-Permanent (SEP) magnets. The new actuator can achieve connection and smooth motion by controlling the polarity of SEP magnets. Analyses based on numerical simulation are used to design a prototype. A dead-time controllable H-bridge and its multiplex design are proposed for controlling the new actuator and simplifying the electronic circuit. Finally, the new actuator is implemented in the DILI modular reconfigurable robot system. The experimental results show that with this new actuator, the DILI module can move smoothly and connect to other modules without power supply during connection. The maximum speed of DILI module is 20 mm/s.

关键词： modular robot Distributed autonomous robotic system Programmable actuator Simplified Electro-Permanent magnet

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Three-dimensional Construction and Omni-directional Rolling Analysis of a Novel Frame-like Lattice modular robot

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Chinese Journal of Mechanical Engineering 2015年第4期28卷 691-701页

作者： DING Wan WU Jianxu YAO Yan'an School of Mechanical Electronic and Control Engineering Beijing Jiaotong University

Lattice modular robots possess diversity actuation methods, such as electric telescopic rod, gear rack, magnet, robot arm, etc. The researches on lattice modular robots mainly focus on their hardware descriptions and reconfiguration algorithms. Meanwhile, their design architectures and actuation methods perform slow telescopic and moving speeds, relative low actuation force verse weight ratio, and without internal space to carry objects. To improve the mechanical performance and reveal the locomotion and reconfiguration binary essences of the lattice modular robots, a novel cube-shaped, frame-like, pneumatic-based reconfigurable robot module called pneumatic expandable cube（PE-Cube） is proposed. The three-dimensional（3D） expanding construction and omni-directional rolling analysis of the constructed robots are the main focuses. The PE-Cube with three degrees of freedom（Do Fs） is assembled by replacing the twelve edges of a cube with pneumatic cylinders. The proposed symmetric construction condition makes the constructed robots possess the same properties in each supporting state, and a binary control strategy cooperated with binary actuator（pneumatic cylinder） is directly adopted to control the PE-Cube. Taking an eight PE-Cube modules＇ construction as example, its dynamic rolling simulation, static rolling condition, and turning gait are illustrated and discussed. To testify telescopic synchronization, respond speed, locomotion feasibility, and repeatability and reliability of hardware system, an experimental pneumatic-based robotic system is built and the rolling and turning experiments of the eight PE-Cube modules＇ construction are carried out. As an extension, the locomotion feasibility of a thirty-two PE-Cube modules＇ construction is analyzed and proved, including dynamic rolling simulation, static rolling condition, and dynamic analysis in free tipping process. The proposed PE-Cube module, construction method, and locomotion analysis enrich the family of the la

关键词： modular robot pneumatic expandable cube pneumatic actuation omni-directional rolling binary control strategy

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Active vibration control of a modular robot combining a back-propagation neural network with a genetic algorithm

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JOURNAL OF VIBRATION AND CONTROL 2005年第1期11卷 3-17页

作者： Li, YM Liu, YG Liu, XP Univ Macau Fac Sci & Technol Dept Electromech Engn Av Padre Tomas Pereira SJ Taipa Macao Peoples R China Beijing Univ Posts & Telecommun Automat Sch Beijing 100876 Peoples R China

In this paper, a genetic algorithm based back-propagation neural network suboptimal controller is developed to control the vibration of a nine-degrees-of-freedom modular robot. A finite-element method is used to model the modules of the robot, and the entire system dynamic equation is established using the substructure synthesis method. Then the joint stiffness parameters are identified based on the experimental modal analysis experiment. After modeling the whole structure with the models of the robotic modules and the joint parameters, simulations of the vibration control for the modular robot in several configurations are carried out. It is shown that the control method presented in this paper is effective at suppressing the residual vibrations of the modular robot.

关键词： active vibration control finite-element analysis modular robot neural network

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Sambot: A Self-Assembly modular robot System

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2011年第4期16卷 745-757页

作者： Wei, Hongxing Chen, Youdong Tan, Jindong Wang, Tianmiao Beihang Univ Sch Mech Engn & Automat Beijing 100191 Peoples R China Michigan Technol Univ Dept Elect Engn Houghton MI 49931 USA

The design and structure of a self-assembly modular robot (Sambot) are presented in this paper. Each module has its own autonomous mobility and can connect with other modules to form robotic structures with different manipulation abilities. Sambot has a versatile, robust, and flexible structure. The computing platform provided for each module is distributed and consists of a number of interlinked microcontrollers. The interaction and connectivity between different modules is achieved through infrared sensors and Zigbee wireless communication in discrete state and control area network bus communication in robotic configuration state. A new mechanical design is put forth to realize the autonomous motion and docking of Sambots. It is a challenge to integrate actuators, sensors, microprocessors, power units, and communication elements into a highly compact and flexible module with the overall size of 80 mm x 80 mm x 102 mm. The work describes represents a mature development in the area of self-assembly distributed robotics.

关键词： Autonomous docking modular robot self-assembly self-reconfiguration

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Data/knowledge representation of modular robot and its working environment

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robotICS AND COMPUTER-INTEGRATED MANUFACTURING 2000年第2-3期16卷 143-159页

作者： Zhang, WJ Liu, SN Li, Q Univ Saskatchewan Dept Mech Engn Saskatoon SK S7N 5A9 Canada SW Jiao Tong Univ Dept Mech Engn Chengdu Peoples R China Univ Adelaide Dept Mech Engn Adelaide SA 5005 Australia

This paper reports a work towards automating the design of a modular robot in the manufacturing environment. As the first as well as the most important step, a data model or data representation of all the design related information needs to be developed. This paper discusses the data representation of information needed for the computer to automatically generate a suitable modular robot configuration. A modular robot is supposed to work in a manufacturing assembly environment. Therefore, the collection of the information needed starts from such an environment. The information is further derived based on a proposed architecture of the computer-aided system for generating a modular robot configuration, which is based on two theories, i.e., cased-based reasoning and function-behaviour-structure (FBS). As a consequence, an integrated data representation of both modular robot and its environment is proposed and discussed in this paper. The integrated data representation also implies that function, behaviour and structure are related to a modular robot (as well as modular joint) are represented in the computer. EXPRESS data modelling language is used to complete the modelling work, and is found necessary for complex systems. A case study has been provided to show the capability of the developed data representations. (C) 2000 Elsevier Science Ltd. All rights reserved.

关键词： modular robot data modelling object-oriented CAD EXPRESS

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Printable modular robot: an application of rapid prototyping for flexible robot design

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INDUSTRIAL robot-THE INTERNATIONAL JOURNAL OF robotICS RESEARCH AND APPLICATION 2015年第2期42卷 149-155页

作者： Krupke, Dennis Wasserfall, Florens Hendrich, Norman Zhang, Jianwei Univ Hamburg Grp TAMS Dept Informat Hamburg Germany

Purpose - This paper aims to present the design of a modular robot with 3D-printing technology. Design/methodology/approach - The robot consists of a number of autonomous modules coupled by magnetic interfaces. Each module combines 3D-printed mechanical parts with widely available standard electronic components, including a microcontroller and a single servo actuator. The mechanical and electrical connection is provided by a single set of magnets which apply the physical force between the modules and at the same time serve as wires for power and communication. Findings - The PMR is a full-featured robotic device, well integrated into a simulation framework, capable to execute common locomotion patterns but still extremely affordable (approximately 25(sic)/module). Furthermore, the design is easy to extend and replicate for other research and education groups. Originality/value - This paper explores a novel approach of connecting devices in a complex way by utilizing very simple magnetic parts. A second focus lies on the concept of closely integrating simulation and hardware development, blurring the edge between digital and physical word.

关键词： Rapid prototyping modular robot Reconfigurable robot Topology detection

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A modular robot that exhibits amoebic locomotion

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robotICS AND AUTONOMOUS SYSTEMS 2006年第8期54卷 641-650页

作者： Ishiguro, Akio Shimizu, Masahiro Kawakatsu, Toshihiro Nagoya Univ Grad Sch Engn Dept Computat Sci & Engn Chikusa Ku Nagoya Aichi 4648603 Japan Tohoku Univ Grad Sch Sci Dept Phys Aoba Ku Sendai Miyagi 9808578 Japan

This paper discusses a fully decentralized algorithm able to control the morphology of a two-dimensional modular robot called "Slimebot", consisting of many identical modules, according to the environment encountered. One of the significant features of our approach is that we explicitly exploit "emergent phenomena" stemming from the interplay between control and mechanical systems in order to control the morphology in real time. To this end, we particularly focus on a "functional material" and a "mutual entrainment", the former of which is used as a spontaneous connectivity control mechanism between the modules, and the latter of which plays as the core of the control mechanism for the generation of locomotion. Simulation results indicate that the proposed algorithm can induce "amoebic locomotion", which allows us to successfully control the morphology of the modular robot in real time according to the situation without losing the coherence of the entire system. The results obtained are expected to shed light on how control and mechanical systems should be coupled, and what the carefully designed interaction between control and mechanical systems brings to the resulting behavior. (c) 2006 Elsevier B.V. All rights reserved.

关键词： modular robot amoebic locomotion emergent phenomena morphology control decentralized control

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