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Group processes and creative components in a problem-solving task with modular robotics

JOURNAL OF COMPUTERS IN EDUCATION 2021年第1期8卷 87-107页

作者： Cassone, Laura Romero, Margarida Esfahani, Shirin Basiri Univ Cote Azur Lab Innovat & Numer Educ LINE 43 Ave Stephen Liegeard F-06046 Nice France

Group process assessment is one of the methodological challenges in computer-supported collaborative learning (CSCL). The aim of this study is to analyze the group process dimensions in a problem-solving task with modular robotics in which creative components of fluidity, flexibility and innovation can be observed. The analysis of group process dimensions in relation to the creative components aims to understand the way group processes can support the creativity process in a problem-solving task. For this objective, 24 dyads of in-service teachers in a creative problem-solving task with modular robotics were engaged. The group process dimensions of conversation, social interaction and problem-solving was identified based on a CSCL coding schema developed for the Virtual Math Team environment. The creative components of fluidity, flexibility and innovation are operationalized based on Guilford's Alternate Uses Test's components. The results show the creative component of innovation is related to interactions of support within the dyad. Moreover, the participants dedicating more time to solve the task are engaged not only in more problem-solving interactions with their dyad but also in building more innovative figures, and they also make more figures together. Those results lead us to consider the importance of a positive emotional environment in the context of collaborative creation.

关键词： Alternate uses test Creativity assessment Group process modular robotics Virtual math teams

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Quality and Diversity in Evolutionary modular robotics

Quality and Diversity in Evolutionary Modular Robotics

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IEEE Symposium Series on Computational Intelligence (IEEE SSCI)

作者： Nordmoen, Jorgen Veenstra, Frank Ellefsen, Kai Olav Glette, Kyrre Univ Oslo Dept Informat Oslo Norway Univ Oslo RITMO Oslo Norway

ISBN: (纸本)9781728125473

In Evolutionary robotics a population of solutions is evolved to optimize robots that solve a given task. However, in traditional Evolutionary Algorithms, the population of solutions tends to converge to local optima when the problem is complex or the search space is large, a problem known as premature convergence. Quality Diversity algorithms try to overcome premature convergence by introducing additional measures that reward solutions for being different while not necessarily performing better. In this paper we compare a single objective Evolutionary Algorithm with two diversity promoting search algorithms;a Multi-Objective Evolutionary Algorithm and MAP-Elites a Quality Diversity algorithm, for the difficult problem of evolving control and morphology in modular robotics. We compare their ability to produce high performing solutions, in addition to analyze the evolved morphological diversity. The results show that all three search algorithms are capable of evolving high performing individuals. However, the Quality Diversity algorithm is better adept at filling all niches with high-performing solutions. This confirms that Quality Diversity algorithms are well suited for evolving modular robots and can be an important means of generating repertoires of high performing solutions that can be exploited both at design- and runtime.

关键词： modular robotics quality diversity NSGA-II comparison

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Distributed Computation and Dynamic Load balancing in modular Edge robotics 6

Distributed Computation and Dynamic Load balancing in Modula...

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6th IEEE International Conference on Robotic Computing, (IRC)

作者： Roy, Swarnabha Baruah, Dharmendra Hernandez, Steven Kalafatis, Stavros Texas A&M Univ Dept Elect & Comp Engn College Stn TX 77843 USA

ISBN: (纸本)9781665472609

As the task complexity that robots can handle increases, the importance of coordination among multiple robots to accomplish a task has grown significantly. Existing research has primarily focused on developing a modular network topology, or a communication protocol solely focused on data communication but largely ignoring load-balancing optimizations. We discuss the existing modular robotic architectures, compare them in data and load sharing and propose a new load balancing protocol. Our load balancing system is based on having modular robotic clusters that work together by sharing resources through Kubernetes. This system improves reliability through information sharing, shared hardware resources among the robots, and scalability, allowing the architecture to expand based on need.

关键词： modular robotics Kubernetes k3s load balancing resource sharing edge computing

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Ani-Bot: A modular robotics System Supporting Creation, Tweaking, and Usage with Mixed-Reality Interactions 18

Ani-Bot: A Modular Robotics System Supporting Creation, Twea...

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12th International Conference on Tangible, Embedded, and Embodied Interaction (TEI)

作者： Cao, Yuanzhi Xu, Zhuangying Glenn, Terrell Huo, Ke Ramani, Karthik Purdue Univ Sch Mech Engn W Lafayette IN 47907 USA

ISBN: (纸本)9781450355681

Ani-Bot is a modular robotics system that allows users to control their DIY robots using Mixed-Reality Interaction (MRI). This system takes advantage of MRI to enable users to visually program the robot through the augmented view of a Head-Mounted Display (HMD). In this paper, we first explain the design of the Mixed-Reality (MR) ready modular robotics system, which allows users to instantly perform MRI once they finish assembling the robot. Then, we elaborate the augmentations provided by the MR system in the three primary phases of a construction kit's lifecycle: Creation, Tweaking, and Usage. Finally, we demonstrate Ani-Bot with four application examples and evaluate the system with a two-session user study. The results of our evaluation indicate that Ani-Bot does successfully embed MRI into the lifecycle (Creation, Tweaking, Usage) of DIY robotics and that it does show strong potential for delivering an enhanced user experience.

关键词： modular robotics Mixed-reality Human-robot interaction DIY robotics User interface

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Simulation and Implementation of a Hexapod Configuration using modular robotics

Simulation and Implementation of a Hexapod Configuration usi...

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Congreso Internacional de Innovacion y Tendencias en Ingenieria (CONIITI)

作者： Castillo, Ricardo Cotera, Mateo Vargas, German Univ Mil Nueva Granada DA VINCI Res Grp Bogota Colombia

ISBN: (纸本)9781538606247

This paper details development of a functional hexapod configuration by means of MECABOT robotic modules, previously designed and built at Universidad Militar Nueva Granada. For this configuration, the modules received a series of upgrades which allowed reduction of size and weight, as well as an increase in torque. In order to develop control software, Webots IDE was used to simulate workspace characteristics in a virtual environment. Once the configuration was assembled using the improved modules, locomotion tests were carried out for forward and lateral motions, for which robot speed was measured and compared with simulation results. Analysis of the divergence between simulated and practical speeds led to a series of design considerations that will require further evaluation in future work.

关键词： modular robotics Hexapod configuration Webots MECABOT

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Scaling Up Soft robotics: A Meter-Scale, modular, and Reconfigurable Soft Robotic System

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SOFT robotics 2022年第2期9卷 324-336页

作者： Li, Shuguang Awale, Samer A. Bacher, Katharine E. Buchner, Thomas J. Della Santina, Cosimo Wood, Robert J. Rus, Daniela Harvard Univ John A Paulson Sch Engn & Appl Sci Room 4-201150 Western Ave Cambridge MA 02134 USA Harvard Univ Wyss Inst Biol Inspired Engn Cambridge MA 02138 USA MIT Comp Sci & Artificial Intelligence Lab 77 Massachusetts Ave Cambridge MA 02139 USA Tech Univ Munich Dept Phys Garching Germany Tech Univ Munich Munich Sch BioEngn Garching Germany German Aerosp Ctr Inst Robot & Mechatron Oberpfaffenhofen Germany Delft Univ Technol Cognit Robot Dept Delft Netherlands

Today's use of large-scale industrial robots is enabling extraordinary achievement on the assembly line, but these robots remain isolated from the humans on the factory floor because they are very powerful, and thus dangerous to be around. In contrast, the soft robotics research community has proposed soft robots that are safe for human environments. The current state of the art enables the creation of small-scale soft robotic devices. In this article we address the gap between small-scale soft robots and the need for human-sized safe robots by introducing a new soft robotic module and multiple human-scale robot configurations based on this module. We tackle large-scale soft robots by presenting a modular and reconfigurable soft robotic platform that can be used to build fully functional and untethered meter-scale soft robots. These findings indicate that a new wave of human-scale soft robots can be an alternative to classic rigid-bodied robots in tasks and environments where humans and machines can work side by side with capabilities that include, but are not limited to, autonomous legged locomotion and grasping.

关键词： soft robotics legged locomotion soft grasping soft actuators modular robotics

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HandiMate: Exploring a modular robotics kit for animating crafted toys 15

HandiMate: Exploring a modular robotics kit for animating cr...

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14th International Conference on Interaction Design and Children, IDC 2015

作者： Yoony, Sang Ho Vermay, Ansh Peppler, Kylie Ramani, Karthik C Design Lab. School of Mechanical Engineering Purdue University United States Creativity Lab. Indiana University Bloomington United States

ISBN: (纸本)9781450335904

Building from our previous work we explore HandiMate, a robotics kit which enables users to construct and animate their toys using everyday craft materials [32]. The kit contains eight joint modules, a tablet interface and a glove controller. Unlike popular kits, HandiMate does not rely on manufactured parts to construct the toy. Rather this open ended platform engages users to pursue interest driven activities using everyday objects, such as cardboard, construction paper, and spoons. These crafted parts are then fastened together using Velcro to the joint modules and animated using the glove as the controller. In this paper, we discuss the results from two user studies which were designed to understand the affinity of HandiMate among children. The first study reveals that children rated the HandiMate kit as gender-neutral, appealing equally to both female and male students. The second study discusses the benefits of engaging children in engineering design with HandiMate, which has been observed to bring out children's tacit physics-based engineering knowledge and facilitate learning. © 2015 ACM.

关键词： modular robotics education kit tangible user interface children gender neutral engineering learning creativity handicraft

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A Tristate Rigid Reversible and Non-Back-Drivable Active Docking Mechanism for modular robotics

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2014年第3期19卷 840-851页

作者： Moubarak, Paul M. Ben-Tzvi, Pinhas George Washington Univ Dept Mech & Aerosp Engn Washington DC 20052 USA

This paper proposes a new active bonding mechanism that achieves rigid, reversible, and nonback-drivable coupling between modular mobile robots in a chain formation. The first merit of this interface lies in its ability to operate in three independent modes. In the drive mode, the motor torque is routed to drive the module. In the clamp mode, the motor torque is redirected toward an active joint that enables one module to rotate relative to its neighbors in the formation. In the neutral mode, the motor's rotation achieves alignment between the interface's components prior to the initiation of the drive and clamp modes. The second merit stems from the dual-rod slider rocker (DRSR) mechanism, which toggles between the interface's three modes of operation. The design details of the interface are presented, as well as the optimal kinematic synthesis and dynamic analysis of the DRSR mechanism. Simulation and experimental results validate the DRSR's unique kinematics, as well as the rigidity and the three operation modes of the docking interface.

关键词： Active docking dual-rod slider-rocker mechanism (DRSR) modular robotics multiobjective optimization

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Rapid and automated configuration of robot manufacturing cells

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 2025年 92卷

作者： Asif, Seemal Bueno, Mikel Ferreira, Pedro Anandan, Paul Zhang, Ze Yao, Yue Ragunathan, Gautham Tinkler, Lloyd Sotoodeh-Bahraini, Masoud Lohse, Niels Webb, Phil Hutabarat, Windo Tiwari, Ashutosh Cranfield Univ Ctr Robot & Assembly Cranfield Beds England Loughborough Univ Intelligent Automat Ctr Wolfson Sch Mech Elect & Mfg Engn Loughborough England Univ Sheffield Dept Automat Control & Syst Engn Sheffield England Univ Sheffield Adv Mfg Res Ctr AMRC Sheffield England

This study presents the Reconfigurable and Responsive Robot Manufacturing (R3M) architecture, a novel framework engineered to autonomously adapt to fluctuating product variants and demands within manufacturing environments. At the heart of R3M lies an integrated architecture that ensures a seamless data flow between critical modules, facilitated by an advanced communication platform. These modules are central to delivering a range of services crucial for operational efficiency. Key to the architecture is the incorporation of Automated Risk Assessment aligned with ISO-12100 standards, utilizing ROS2 Gazebo for the dynamic modification of robot skills in a plug-and-produce manner. The architecture's unique approach to requirements definition employs AutomationML (AML), enabling effective system integration and the consolidation of varied information sources. This is achieved through the innovative use of skill-based concepts and AML Class Libraries, enhancing the system's adaptability and integration within manufacturing settings. The narrative delves into the intricate descriptions of products, equipment, and processes within the AML framework, highlighting the strategic consideration of profitability in the product domain and distinguishing between atomic and composite skills in equipment characterization. The process domain serves as an invaluable knowledge repository, bridging the gap between high-level product demands and specific equipment capabilities via process patterns. The culmination of these elements within the R3M framework provides a versatile and scalable solution poised to revolutionize manufacturing processes. Empirical results underscore the architecture's robust perception abilities, with a particular focus on a real-world application in robotic lamination stacking, elucidating both the inherent challenges and the tangible outcomes of the R3M deployment.

关键词： Reconfigurable manufacturing modular robotics Common communication platform Autonomous systems Robot perception Autonomous program generation Reconfigurable architecture Manufacturing automation

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RS-ModCubes: Self-Reconfigurable, Scalable, modular Cubic Robots for Underwater Operations

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IEEE robotics AND AUTOMATION LETTERS 2025年第4期10卷 3534-3541页

作者： Zheng, Jiaxi Dai, Guangmin He, Botao Mu, Zhaoyang Meng, Zhaochen Zhang, Tianyi Zhi, Weiming Fan, Dixia Westlake Univ Sch Engn Hangzhou 310030 Zhejiang Peoples R China Carnegie Mellon Univ Robot Inst Sch Comp Sci Pittsburgh PA 15213 USA Zhejiang Univ Sch Environm & Resource Sci Hangzhou 310000 Zhejiang Peoples R China Univ Maryland Dept Comp Sci College Pk MD 20742 USA Westlake Inst Adv Study Inst Adv Technol Hangzhou 310024 Zhejiang Peoples R China

This paper introduces a reconfigurable underwater robot system, RS-ModCubes, which allows scalable multi-robot configurations. An RS-ModCubes system comprises multiple ModCube modules, that can travel underwater with 6 DoFs and assemble with each other into a larger structure with onboard electromagnets. This system is designed to explore the feasibility of modularity and reconfigurability in underwater robotics, eliminating the need to customize mechanical designs for a specific task. We develop a modeling framework for reconfigurable robot systems, incorporating hydrodynamic effects via Monte Carlo approximation. A model-based feedforward Proportional Derivative (PD) controller serves as the baseline for control. Inspired by dexterous manipulation, we evaluated the robot's maximum task wrench space and power efficiency, compared against four commercial underwater robots. RS-ModCubes is validated via both real-world experiments and simulations, including individual and multi-module trajectory tracking and hovering docking.

关键词： Robots Drag Autonomous underwater vehicles Attitude control Force Table lookup Adaptation models Vehicle dynamics Training Shape Self-reconfigurable robots modular robotics underwater robotics autonomous systems robotic locomotion

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