检索结果-内蒙古大学图书馆

Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 1

作者： Chih-Han Yu Radhika Nagpal Harvard University Cambridge MA

ISBN: (纸本)9780981738109

This paper presents a theoretical study of decentralized control for sensing-based shape formation on modular multi-robot systems, where the desired shape is specified in terms of local sensor constraints between neighboring robot agents. We show that this problem can be formulated more generally as distributed constraint-maintenance on a networked multi-agent system. It is strongly related to a class of multi-agent algorithms called distributed consensus, which includes several bio-inspired algorithms such as flocking and firefly synchronization. By exploiting this connection, we can theoretically analyze several important aspects of the decentralized shape formation algorithm and generalize it to more complex multi-agent scenarios. We show that the convergence time depends on (a) the number of robot agents and agent connection topology, (b) the complexity of the user-specified goal, and (c) the initial state of the robots. Using these results, we can provide precise statements on how the approach scales, and how quickly the system can adapt to perturbations. These results provide a deeper understanding of the contrast between centralized and decentralized multi-agent algorithms.

关键词： collective dynamics graph Laplacian decentralized control shape formation convergence modular robot

来源：评论

学校读者我要写书评

暂无评论

Underwater reconfigurable robot based on modular piezoelectric jet unit

引用

SENSORS AND ACTUATORS A-PHYSICAL 2025年 388卷

作者： Zhang, Lu Lv, Mengfei Fan, Haoyang Zhao, Xiaoxue Yang, Tianyu Li, Kai Northeast Forestry Univ Coll Mech & Elect Engn Mechatron Engn Harbin 150040 Peoples R China Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Peoples R China

Underwater organisms have important research value in the fields of biology and medicine, but the existing underwater vehicles are not competent for the task of capturing underwater organisms. Therefore, we design a reconfigurable Transformers robot, which uses bait with anesthetics to trap underwater organisms. robot has the hunting form of trapping organisms and the submerged form of transporting organisms. Transformers robot is designed by six modular piezoelectric jet driving units (MPJDU) connected by hinges, and the required form can be realized through cooperative driving of multi-module. The design of the MPJDU is inspired by the jet propulsion of marine organisms, which has the advantages of miniature structure and high-pressure resistance. In order to realize efficient propulsion of the MPJDU, its vibration characteristics and propulsion principle are studied by simulation methods. Relevant experiments are carried out to test its motion performance and verify the correctness of the simulation results. The experimental results show that the linear speed of the MPJDU reaches 9.14 cm/s, and it can move flexibly under 20 MPa high pressure environment. The robot in submerged form completed a variety of movements, which proves that Transformers robot is an excellent performer of underwater organisms capture missions.

关键词： Deep-sea organisms capture modular robot Piezoelectric actuator Piezoelectric jet driving unit Underwater robot

来源：评论

学校读者我要写书评

暂无评论

modular Self-Reconfigurable Continuum robot for General Purpose Loco-Manipulation

引用

IEEE robotICS AND AUTOMATION LETTERS 2025年第2期10卷 1976-1983页

作者： Cai, Yilin Xu, Haokai Wang, Yifan Chen, Desai Matusik, Wojciech Shou, Wan Chen, Yue Georgia Inst Technol Dept Mech Engn Atlanta GA 30332 USA Georgia Inst Technol Dept Elect & Comp Engn Atlanta GA 30332 USA Inkbit Inc Medford MA 02155 USA MIT Comp Sci & Artificial Intelligence Lab Cambridge MA 02139 USA Univ Arkansas Dept Mech Engn Fayetteville AR 72701 USA Emory Univ Georgia Inst Technol Dept Biomed Engn Atlanta GA 30332 USA

modular Self-Reconfigurable robots offer exceptional adaptability and versatility through reconfiguration, but traditional rigid robot designs lack the compliance necessary for effective interaction with complex environments. Recent advancements in modular soft robots address this shortcoming with enhanced flexibility;however, their designs lack the capability of active self-reconfiguration and heavily rely on manual assembly. In this letter, we present a modular self-reconfigurable soft continuum robotic system featuring a continuum backbone and an omnidirectional docking mechanism. This design enables each module to independently perform loco-manipulation and self-reconfiguration. We then propose a kinetostatic model and conduct a geometrical docking range analysis to characterize the robot's performance. The reconfiguration process and the distinct motion gait for each configuration are also developed, including rolling, crawling, and snake-like undulation. Experimental demonstrations show that both single and multiple connected modules can achieve successful loco-manipulation, adapting effectively to various environments.

关键词： Grippers robots Connectors Soft robotics Grasping Assembly Continuum robots robot kinematics Actuators Tendons Continuum robot loco-manipulation modular robot self-reconfiguration

来源：评论

学校读者我要写书评

暂无评论

Morphology Transformation of Underwater Self-Reconfigurable modular robots via Heterogeneous Decomposition and Distributed Control

引用

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2025年 22卷 10698-10712页

作者： Lu, Wenjie Hu, Manman Harbin Inst Technol Shenzhen Sch Mech Engn & Automat Guangdong Prov Key Lab Intelligent Morphing Mech & Shenzhen 518055 Guangdong Peoples R China Univ Hong Kong Dept Civil Engn Hong Kong Peoples R China

This paper addresses the morphology transformation problem of an underwater self-reconfigurable modular robotic system. Morphology decomposition and reconnections are reduced to mitigate transformation failures and the overhead of underwater wireless communication, giving rise to subgraph matching problems. We propose an efficient probabilistic decomposition method by constraining the search depth of maximal common subgraphs of the initial and goal morphologies. The computational complexity reduces from O(n(2)) to O(n) . The decomposition yields a swarm of heterogeneous clusters, which are interconnected modular robots of varying quantities. The heterogeneity makes the exchange of clusters' designated positions in the goal morphology not immediately feasible. Subsequently, we present Distributed Control with minimal In-situ task Refinement (DCIR). DCIR is proven to ensure collision-free and deadlock-free morphology transformation. The numerical simulations involving up to 641 modular robots and experiments on 6 robots have shown that DCIR scales well with the number of modular robots, runs in real time, and reduces traveling distances by at least 14% and communication costs by about half, compared to the distributed control with homogeneous task exchange and the modified surface sliding method. Note to Practitioners-This paper presents a distributed control approach to transform the morphologies. Considering the limited communication bandwidth, the disconnections between modular robots are minimized. The proposed distributed control approach refines tasks locally to transform the morphologies, and it scales well to the number of modular robots. This effort is orthogonal to the existing studies on the structures of the modular system. However, the positioning of the underwater robots in this study was assumed known or given by an underwater motion capture system, and it should be further investigated.

关键词： Morphology robots Decentralized control robot sensing systems Planning Geometry Transforms Sensors Automation System recovery Self-reconfigurable modular robot morphology transformation underwater robot distributed control subgraph matching morphology decomposition

来源：评论

学校读者我要写书评

暂无评论

Parallel Self-assembly for modular robots Using Deep Reinforcement Learning 17th

Parallel Self-assembly for Modular Robots Using Deep Reinfor...

引用

17th International Conference on Intelligent robotics and Applications

作者： Mao, Yanbo Yao, Meibao Jilin Univ Sch Artificial Intelligence Intelligent Robot Lab IRL Changchun 130012 Peoples R China

ISBN: (纸本)9789819607976;9789819607983

modular robots can adapt to different tasks by assembling into various configurations. Parallely executing the self-assembly process can significantly enhance its efficiency. However, the implementation of parallel assembly presents challenges, as it requires not only accurate mapping of modules between configurations, but also simultaneous control of the robot's motion. A hierarchical framework is proposed for the parallel self-assembly of modular robots, capable of accommodating varying numbers of robots and assembling them into different target configurations. The framework comprises a mapping algorithm to determine the reconfiguration scheme between the initial and target configurations, as well as a transferable motion model based on SAC (Soft Actor-Critic). The mapping algorithm computes the optimal module position assignments, while the motion model provides an efficient motion strategy for the modular robots. We conducted simulations and experiments on the Webots platform to verify the proposed framework, and the experimental results show that it produces a high-quality parallel self-assembly scheme.

关键词： modular robot Self-assembly Deep reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

FWMR-II: a modular link-type rope-climbing robot with the finger-wheeled mechanism

引用

INDUSTRIAL robot-THE INTERNATIONAL JOURNAL OF robotICS RESEARCH AND APPLICATION 2021年第4期48卷 602-613页

作者： Yu, Suyang Ye, Changlong Tao, Guanghong Ding, Jian Wang, Yinchao Shenyang Aerosp Univ Sch Mechatron Engn Shenyang Peoples R China

Purpose The rope-climbing robot that can cling to a rope for locomotion has been a popular piece of equipment for some overhead applications due to its high flexibility. In view of problems left by existing rope-climbing robots, this paper aims to propose a new-style rope-climbing robot named Finger-wheeled mechanism robot (FWMR)-II to improve their performance. Design/methodology/approach FWMR-II adopts a modular and link-type mechanical structure. With the finger-wheeled mechanism (FWM) module, the robot can achieve smooth and quick locomotion and good capability of obstacle-crossing on the rope and with the link module based on a spatial parallel mechanism, the robot adaptability for rope environments is improved further. The kinematic models that can present configurations of the FWM module and link module of the robot are established and for typical states of the obstacle-crossing process, the geometric definitions and constraints that can present the robot position relative to the rope are established. The simulation is performed with the optimization calculating method to obtain the robot adaptability for rope environments and the experiment is also conducted with the developed prototype to verify the robot performance. Findings From the simulation results, the adaptability for rope environments of FWMR-II are obtained and the advantage of FWMR-II compared with FWMR-I is also proved. The experiment results give a further verification for the robot design and analysis work. Practical implications The robot proposed in this study can be used for inspection of power transmission lines, inspection and delivery in mine and some other overhead applications. Originality/value An ingenious modular link-type robot is proposed to improve existing rope-climbing robots and the method established in this study is worthy of reference for obstacle-crossing analysis of other rope-climbing robots.

关键词： Obstacle-crossing Finger-wheeled mechanism Link-type robot modular robot Optimization calculating method Rope-climbing robot

来源：评论

学校读者我要写书评

暂无评论

A modular Biped Wall-Climbing robot With High Mobility and Manipulating Function

引用

IEEE-ASME TRANSACTIONS ON MECHATRONICS 2013年第6期18卷 1787-1798页

作者： Guan, Yisheng Zhu, Haifei Wu, Wenqiang Zhou, Xuefeng Jiang, Li Cai, Chuanwu Zhang, Lianmeng Zhang, Hong S China Univ Technol Sch Mech & Automot Engn Biomimet & Intelligent Robot Lab Guangzhou 510640 Guangdong Peoples R China ABB Engn Shanghai Co Ltd Shanghai 201319 Peoples R China Univ Alberta Dept Comp Sci Edmonton AB T6G 2E8 Canada S China Univ Technol Sch Mech & Automot Engn Guangzhou 510640 Guangdong Peoples R China

High-rise tasks such as cleaning, painting, inspection, and maintenance on walls of large buildings or other structures require robots with climbing and manipulating skills. Motivated by these potential applications and inspired by the climbing motion of inchworms, we have developed a biped wall-climbing robot-W-Climbot. Built with a modular approach, the robot consists of five joint modules connected in series and two suction modules mounted at the two ends. With this configuration and biped climbing mode, W-Climbot not only has superior mobility on smooth walls, but also has the function of attaching to and manipulating objects equivalent to a "mobile manipulator." In this paper, we address several fundamental issues with this novel wall-climbing robot, including system development, analysis of suction force, basic climbing gaits, overcoming obstacles, and transiting among walls. A series of comprehensive and challenging experiments with the robot climbing on walls and performing a manipulation task have been conducted to demonstrate its superior climbing ability and manipulation function. The analytical and experimental results have shown that W-Climbot represents a significant advancement in the development of wall-climbing robots.

关键词： Bioinspired robot climbing gait mobile manipulator modular robot wall-climbing robot

来源：评论

学校读者我要写书评

暂无评论

An obstacle-avoiding and stiffness-tunable modular bionic soft robot

引用

robotICA 2022年第8期40卷 2651-2665页

作者： Liu, Zhaoyu Wang, Yuxuan Wang, Jiangbei Fei, Yanqiong Du, Qitong Shanghai Jiao Tong Univ Res Inst Robot Shanghai 200240 Peoples R China

The aim of this work is to design and model a novel modular bionic soft robot for crawling and crossing obstacles. The modular bionic soft robot is composed of several serial driving soft modules, each module is composed of two parallel soft actuators. By analyzing the influence of working pressure and manufacturing size on the stiffness of the modular bionic soft robot, the nonlinear variable stiffness model of the modular bionic soft robot is established. Based on this model, the spatial states and design parameters of the modular bionic soft robot are discussed when the modular bionic soft robot can pass through the obstacle. Experiments show that when the inflation air pressure of the modular bionic soft robot is 70 kPa, its speed can reach 7.89 mm/s and the height of obstacles passed by it can reach 42.8 mm. The feasibility of the proposed modular bionic soft robot and nonlinear variable stiffness model is verified by locomotion experiments.

关键词： soft robot modular robot nonlinear variable stiffness obstacle-avoiding ability

来源：评论

学校读者我要写书评

暂无评论

A modular Self-Reconfigurable robot with Enhanced Locomotion Performances: Design, Modeling, Simulations, and Experiments

引用

JOURNAL OF INTELLIGENT & robotIC SYSTEMS 2016年第3-4期81卷 377-393页

作者： Zhang, Ying Song, Guangming Liu, Shengsong Qiao, Guifang Zhang, Jun Sun, Huiyu Southeast Univ Sch Instrument Sci & Engn Nanjing Jiangsu Peoples R China Jiangsu Elect Power Co Nanjing Jiangsu Peoples R China

This paper presents the design and implementation of a modular self-reconfigurable robot with enhanced locomotion capabilities. It is a small hexahedron robot which is 160 mm x 140 mm x 60 mm in size and 405 g in weight. The robot is driven by three omnidirectional wheels, with up and down symmetrical structure. The robot can perform rectilinear and rotational locomotion, and turn clockwise and counterclockwise without limitation. A new docking mechanism that combines the advantages of falcula and pin-hole has been designed for attaching and detaching different modules. The communication and image data transmission are based on a wireless network. The kinematics and dynamics of the single module has been analyzed, and the enhanced locomotion capabilities of the prototype robot are verified through experiments. The maximum linear velocity is 25.1cm/s, which is much faster than other modular self-reconfigurable robots. The mobility of two connected modules is analyzed in the ADAMS simulator. The locomotion of the docking modules is more flexible. Simulations on the wheel and crawling locomotion are conducted, the trajectories of the robot are shown, and the movement efficiency is analyzed. The docking mechanisms are tested through docking experiments, and the effectiveness has been verified. When the transmission time interval between the adjacent packets is more than 4 ms, the wireless network will not lose any packet at the maximum effective distance of 37 m in indoor environments.

关键词： modular robot Self-reconfigurable robot Locomotion analysis Omnidirectional wheels

来源：评论

学校读者我要写书评

暂无评论

modular structure of a self-reconfigurable robot

引用

中国高等学校学术文摘·机械工程 2007年第1期2卷 116-119页

作者： FEI Yanqiong DONG Qinglei ZHAO Xifang Research Institute of Robotics Shanghai Jiaotong University Shanghai 200030 China

This paper proposes a novel, hermaphroditic, and lattice self-reconfigurable modular robot. Each module is composed of a center body--a cubic part and six sides that can rotate independently. There are two holes and two exten- sible pegs on each side. The rotary motion of each side and the extensible motion of the pegs are generated by a motor connected to a reducer, using a cone-shaped gear, belt, clutch, etc. The structure of the module is compact, and has space to extend further.

关键词： modular robot motion self-reconfiguration

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：