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2024 IEEE Region 10 Conference, TENCON 2024

作者： Sanada, Kotaro Satoh, Nobuo Arai, Hiroshi Graduate School of Engineering Chiba Institute of Technology Chiba Japan

ISBN: (纸本)9798350350821

A modular robot consists of connected many autonomous modules and achieve a given task. There is a minimum number of active modules required to perform a given task. To maximize the task operating time of the modular robot, each module must share electric power. We propose a power-sharing mechanism for a modular robot. By applying power packet technology, each module shares electric power. The effectiveness of the proposed method was evaluated through a simulations and a prototype of the modular robot. © 2024 IEEE.

关键词： modular robot power distribution power packet technology power sharing

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Research on self-reconfigurable modular robot system - (Experiments on reconfiguration and locomotion with several modules)

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JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING 2003年第4期46卷 1490-1496页

作者： Kamimura, A Murata, S Yoshida, E Kurokawa, H Tomita, K Kokaji, S AIST Intelligent Syst Inst Distributed Syst Design Res Grp Tsukuba Ibaraki 3058564 Japan Tokyo Inst Technol Interdisciplinary Grad Sch Sci & Engn Dept Computat Intelligence & Syst Sci Midori Ku Yokohama Kanagawa 2268502 Japan

Growing complexity of artificial systems arises reliability and flexibility issues of large system design. robots are not exception of this, and many attempts have been made to realize reliable and flexible robot systems. Distributed modular composition of robot is one of the most effective approaches to attain such abilities and has a potential to adapt to its surroundings by changing its configuration autonomously according to information of surroundings. In this paper, we propose a novel three-dimensional self-reconfigurable robotic module. Each module has a very simple structure that consists of two semi-cylindrical parts connected by a link. The modular system is capable of not only building static structure but also generating dynamic robotic motion. We present details of the mechanical/electrical design of the developed module and its control system architecture. Experiments using ten modules with centralized control demonstrate robotic configuration change, crawling locomotion and three types of quadruped locomotion.

关键词： mechatronics and robotics modular robot distributed autonomous system self-reconfiguration self-repair robotic motion generation

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A Novel Shape Memory Alloy modular robot with Spatially Stable Structure

ADVANCED INTELLIGENT SYSTEMS

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ADVANCED INTELLIGENT SYSTEMS 2024年第10期6卷

作者： Xiao, Junlong Wang, Michael Yu Chen, Chao Monash Univ Fac Engn Clayton Vic 3800 Australia Great Bay Univ Sch Sci Songshan Lake Dongguan 523000 Guangdong Peoples R China

Soft robots exhibit significant flexibility but normally lack stability owing to their inherent low stiffness. Current solutions for achieving variable stiffness or implementing lock mechanisms tend to involve complex structures. Additionally, passive solutions like bistable and multistate mechanisms lack spatial stable characteristics. This study presents a novel shape memory alloy (SMA) modular robot with spatially stable structure, by utilizing gooseneck as the backbone. This is the first time that a concept of spatially stable structure is proposed. When the power is off, the robot can still maintain its current posture in three-dimensional space and resist external disturbance. The SMA spring and gooseneck are characterized, elucidating the mechanism behind achieving spatial stability. Then, a controller based on the inverse kinematics is designed, and validated by experiments. The results demonstrate the structural stability of the robot. Specifically, it can withstand a maximum external force of 2.5 N (0.0875 Nm) when bent at an angle of 20 degrees without consuming energy. Moreover, with the assistance of the SMA spring, this resistance capacity surpasses 5 N (0.175 Nm). This article presents a novel shape memory alloy (SMA) modular robot with spatially stable structure, by utilizing gooseneck as the backbone. It is the first time that a concept of spatially stable structure is proposed. This innovation significantly enhances the robot's stability and its ability to resist external disturbances without the need for additional control mechanisms or energy *** (c) 2024 WILEY-VCH GmbH

关键词： modular robot shape memory alloy soft bending robot spatially stable structure

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Brain-Controlled for Changing modular robot Configuration by Employing Neurosky's Headset

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INTERNATIONAL JOURNAL OF ADVANCED COMPUTER SCIENCE AND APPLICATIONS 2019年第6期10卷 114-120页

作者： Hasbulah, Muhammad Haziq Jafar, Fairul Azni Nordin, Mohd Hisham Yokota, Kazutaka Univ Teknikal Fac Mfg Engn Durian Tunggal 76100 Melaka Malaysia Utsunomiya Univ Grad Sch Engn Res Div Design & Eng Sustainabil 7-1-2 Yoto Utsunomiya Tochigi 3218585 Japan

Currently, the Brain Computer Interfaces (BCI) system was designed mostly to be implemented for control purpose or navigation which are mostly being employed for mobile robot, manipulator robot and humanoid robot by using Motor Imagery. This study presents an implementation of BCI system to modular Self-Reconfigurable (MSR) Dtto robot so the robot able to propagate multiple configurations based on EEG-based brain signals. In this paper, a Neurosky's Mindwave Mobile EEG headset is being used and a framework of controlling the Dtto robot by EEG signals, processed by OpenViBE software are built. The connection being established between Neurosky's headsets to the OpenViBE, where a Motor Imagery BCI is created to receive and process the EEG data in real time. The main idea for system developed is to associate a direction (Left, Right, Up and Down) based on Hand and Feet Motor Imagery as a command for Dtto robot control. The Direction from OpenViBE were sent via Lab Streaming Layer (LSL) and transmitted via Python software to Arduino controller in the robots. To test the system performance, this study was conducted in Real time experiments. The results are being discussed in this paper.

关键词： Dtto robot motor imagery Open Vibe modular robot configuration communication

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A Combination of Machine Learning and Cerebellar-like Neural Networks for the Motor Control and Motor Learning of the Fable modular robot

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JOURNAL OF robotICS NETWORKING AND ARTIFICIAL LIFE 2017年第1期4卷 62-66页

作者： Ojeda, Ismael Baira Tolu, Silvia Pacheco, Moises Christensen, David Johan Lund, Henrik Hautop Tech Univ Denmark Dept Elect Engn Ctr Playware Elektrovej Bldg 326 DK-2800 Lyngby Denmark

We scaled up a bio-inspired control architecture for the motor control and motor learning of a real modular robot. In our approach, the Locally Weighted Projection Regression algorithm (LWPR) and a cerebellar microcircuit coexist, in the form of a Unit Learning Machine. The LWPR algorithm optimizes the input space and learns the internal model of a single robot module to command the robot to follow a desired trajectory with its end-effector. The cerebellar-like microcircuit refines the LWPR output delivering corrective commands. We contrasted distinct cerebellar-like circuits including analytical models and spiking models implemented on the SpiNNaker platform, showing promising performance and robustness results.

关键词： Motor control cerebellum machine learning modular robot internal model adaptive behavior

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Development of modular Humanoid robot Based on Functionally Distributed modular robot Architecture

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JOURNAL OF robotICS AND MECHATRONICS 2005年第3期17卷 236-247页

作者： Taira, Tetsuya Yamasaki, Nobuyuki Keio Univ Sch Sci Open & Environm Syst Kohoku Ku 3-14-1 Hiyoshi Yokohama Kanagawa 2238522 Japan

This paper describes the development of a modular humanoid robot based on our proposed functionally distributed modular robot architecture. Our proposed architecture features three key concepts, 1) a modular humanoid robot, 2) a functionally distributed module, and 3) a transparent layered software model. Our humanoid robot is designed as a modular robot system consisting of several functionally distributed modules with exclusive mechanical parts, electronic parts, and software for elemental functions such as leg, arm, and vision. Depending on many purposes of researchers and users, our humanoid robot can be used as some kinds of humanoid robots or several autonomous robots, e.g., a wheel robot, an arm robot, or a head robot. We developed the prototype modular humanoid robot consisting of five functionally distributed modules such as two arm modules, a wheel module, a head module, and a main module for evaluating our proposed architecture.

关键词： robot architecture reconfigurable modular umanoid robot modular robot reconfigurable mechanism

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Propulsion Method of modular robot Using Different Types of Locomotion Modules

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JOURNAL OF robotICS AND MECHATRONICS 2024年第6期36卷 1419-1427页

作者： Ono, Sakuya Uchida, Yoshihisa Aichi Inst Technol Fac Engn Dept Mech Engn 1247 YachigusaYakusa Cho Toyota Aichi 4700392 Japan

Multi-purpose module system (MMS), which is one of the module robots, consists of locomotion, sensor, communication, and function modules. The MMS can be transformed into a series-connected form or a quadruped form, following which appropriate sensors can be added. Therefore, the MMS can be used as a rescue robot in an unknown situation. This study presents an overview of each of the modules that comprise the developed MMS, as well as an overview of each of the forms in which they are combined. Considering that the MMS feature can freely combine different types of modules, we developed MMS-D01, which combined serpentine and wheeled propulsion, and MMS-V02, which combined Mecanum-wheeled propulsion and stable traveling using joint control. These developed MMSs were evaluated under various conditions.

关键词： multi-purpose module system (MMS) modular robot snake robot wheel robot redundant robot

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Design and locomotion analysis of a novel modular rolling robot

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MECHANISM AND MACHINE THEORY 2019年 133卷 23-43页

作者： Wei, Xiangzhi Tian, Yaobin Wen, Shanshan Shanghai Jiao Tong Univ Sch Mech Engn Shanghai 200240 Peoples R China Hong Kong Univ Sci & Technol Dept Ind Engn & Decis Analyt Kowloon Clear Water Bay Hong Kong Peoples R China Shanghai Aerosp Equipment Manufacturer Co Ltd Shanghai Kerui Ind Res Inst Shanghai 200245 Peoples R China

This paper proposes a novel morphological modular robot that is capable of switching multiple directions and rolling locomotion. The mechanism of the robot resembles a spherical grid and it composes of 6 node modules and 12 planar RRR chain modules. The mobility of the mechanism is analyzed based on screw theory, and a kinematic model with 6 degrees of freedom is obtained. The full kinematics including forward, inverse kinematics, Jacobian matrix and singularity analysis are presented to demonstrate the motion and deformation characters of the robot. The rolling locomotion of the robot can be realized by deforming its shape to change the center of gravity. In order to guarantee a stable rolling locomotion, a mathematical model and a control algorithm for rolling the robot as a planar mechanism are presented. The robot can be used to carry some payload such as a battery or camera at its center via a tension system of spring cables. The influence of the payload on the rolling locomotion of the robot is analyzed. Finally, the modules were manufactured and a prototype robot was assembled, and the deformation and rolling locomotion experiments were conducted to validate the design of the robot. (C) 2018 Elsevier Ltd. All rights reserved.

关键词： modular robot Mechanism design Rolling locomotion Kinematics

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Multi-Loop Rover: A Kind of modular Rolling robot Constructed by Multi-Loop Linkages

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JOURNAL OF MECHANISMS AND robotICS-TRANSACTIONS OF THE ASME 2021年第1期13卷 011012页

作者： Tian, Yaobin Kong, Xianwen Xu, Kun Ding, Xilun Beihang Univ Sch Mech Engn & Automat Beijing 100191 Peoples R China Heriot Watt Univ Dept Engn & Phys Sci Edinburgh EH14 4AS Midlothian Scotland

This paper proposes a new kind of modular rolling robot called multi-loop rover (MLR), which is essentially a multi-loop linkage that is able to roll and switch its rolling directions. For ease of rolling, the MLR retains a multi-loop topological structure composed of a number of strut and node modules. First, the modular design and assembling method are introduced to construct an MLR. Then, the mobility is analyzed based on screw theory, and a brief formula is presented to calculate the degree-of-freedoms of the robot. The results show that all node modules only have translational motions, which can significantly reduce the complexity of kinematics. The forward and inverse kinematics are conducted to show the deformation properties. Based on the kinematic rolling principle, the morphing strategies for rolling and turning functions are developed. Finally, a physical prototype is manufactured and a serial of experiments are carried out to verify the proposed method.

关键词： modular robot rolling locomotion spherical robot multi-loop linkage foldable mechanism kinematics bio-inspired design mechanism design mobile robots robot design

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Locomotion Study of a Hyper-redundant modular robot Using Artificial Neural Networks 2019

Locomotion Study of a Hyper-redundant Modular Robot Using Ar...

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Proceedings of the Advances in robotics 2019

作者： Anubhab Majumder Asesh Patra Meet Patel Priyabrata Chattopadhyay Sanjoy K. Ghoshal Indian Institute of Technology (ISM) Dhanbad India CSIR- Central Mechanical Engineering Research Institute Durgapur India

ISBN: (纸本)9781450366502

This paper deals with the study of locomotion of a hyper-redundant wheel-less modular robot. The robot has the capability of operating in a horizontal plane through the implementation of proposed locomotion, which purely depends on body undulations. Since, the body undulation takes place in two orthogonal planes simultaneously through the application of sinusoidal Joint Orientation Functions (JOFs), the contact points between the body and surface change rapidly, which makes it more complex to analyze the kinematic behaviour. At this juncture, the applicability of the ANN (Artificial Neural Network) model has been evaluated to predict the kinematic behavior (primarily the net displacement) of the robot for a given set of input JOF parameters while performing a certain locomotion. The model is trained and validated with a significant number of experimental data set and finally the simulated outputs are verified by comparing with some pilot studies.

关键词： ANN Hyper-redundant robot Locomotion modular robot

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