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IEEE Africon Conference

作者： Lund, Henrik Hautop Tech Univ Denmark Ctr Playware DK-2800 Lyngby Denmark

ISBN: (纸本)9781612849935

In this paper, we review the concept, development and use of modular robotic devices for education, health improvements, and business in Africa. The modular robotics inspired technology has the advantage of allowing any user easy access to a physical construction of new and advanced technology. We conceptualized several educational tools inspired by modular robotics for contextualized IT education in Tanzania, leading to a novel IT degree program and the development of East Africa's first science and business park in Iringa, Tanzania. The prototypes inspired by modular robotics were developed in the local, rural context and tested by local users in hospitals and rehabilitation centres. In this paper, we review the development of both modular building blocks for education and modular robotic tiles for rehabilitation in Tanzania.

关键词： modular robotics embodied AI educational robotics contextualised IT rehabilitation robotics

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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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Evolved and designed self-reproducing modular robotics

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IEEE TRANSACTIONS ON robotics 2007年第2期23卷 308-319页

作者： Zykov, Victor Mytilinaios, Efstathios Desnoyer, Mark Lipson, Hod Cornell Univ Silbley Sch Mech & Aerosp Engn Ithaca NY 14853 USA Cornell Univ Dept Comp & Informat Sci Ithaca NY 14853 USA Cornell Univ Sch Elect & Comp Engn Ithaca NY 14853 USA

Long-term physical survivability of most robotic systems today is achieved through durable hardware. In contrast, most biological systems are not made of robust materials;long-term sustainability and evolutionary adaptation in nature are provided through processes of self-repair and, ultimately, self-reproduction. Here we demonstrate a large space of possible robots capable of autonomous self-reproduction. These robots are composed of actuated modules equipped with electromagnets to selectively control the morphology of the robotic assembly. We show a variety of 2-D and 3-D machines from 3 to 2n modules, and two physical implementations that each achieves two generations of reproduction. We show both automatically generated and manually designed morphologies.

关键词： evolutionary computation modular robotics self-repair self-replication self-reproduction

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The Role of modular robotics in Mediating Nonverbal Social Exchanges

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IEEE TRANSACTIONS ON robotics 2009年第3期25卷 602-613页

作者： Marti, Patrizia Giusti, Leonardo Lund, Henrik Hautop Univ Siena I-53100 Siena Italy Fdn Bruno Kessler I-38050 Povo Italy Tech Univ Denmark DK-2800 Lyngby Denmark

This paper outlines the use of modular robotics to encourage and facilitate nonverbal communication during therapeutic intervention in dementia care. A set of new socially interactive modular robotic devices called rolling pins (RPs) has been designed and developed to assist the therapist in interacting with dementia-affected patients. The RPs are semitransparent plastic tubes that are capable of measuring their orientation and the speed of their rotation;at a local level, they have three types of feedback: red, green, and blue light, sound, and vibration. The peculiarity of the RPs is that they are able to communicate with each other or with other devices equipped with the same radio communication technology. The RPs are usually used in pairs, as the local feedback of an RP can be set depending not only on its own speed and orientation but also on the speed and the orientation of the peer RP. The system is not used as a therapeutic tool per se but as a facilitator and a mediator of social dynamics during normal therapy to counteract social isolation that can result in dementia through the loss of social skills. An experiment is reported that shows that by using the RPs, the patients participated in the activity by coordinating their behavior with the therapist and imitating the same interaction patterns generated by the therapist.

关键词： Dementia gesture-based interaction imitation modular robotics social exchanges tangible media

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

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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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A Light-Weight Robot Simulator for modular robotics 1

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1st International Workshop on Modelling and Simulation for Autonomous Systems (MESAS)

作者： Vonasek, Vojtech Fiser, Daniel Kosnar, Karel Preucil, Libor Czech Tech Univ Fac Elect Engn Tech 2 Prague 16627 Czech Republic

ISBN: (纸本)9783319138237;9783319138220

Physical simulation are frequently used in robotics for evaluation of control strategies or planning techniques. In this paper, a novel, light-weight open-source robotic simulator is introduced. It provides both physical and sensor simulation and it was designed to be run in a headless mode, i.e., without any visualization, which makes it suitable for computational grids. Despite this fact, the progress of the simulation can be later visualized using external tools like Blender 3D. This brings advantage in comparison to more general and powerful simulators that cannot be easily run on such machines. The paper briefly introduces architecture of the simulator with description of its utilization in evolutionary modular robotics.

关键词： robotic simulation modular robotics evolutionary robots

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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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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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KINEMATIC SYNTHESIS AND DYNAMIC ANALYSIS OF THE DUAL-ROD SLIDER ROCKER MECHANISM: AN APPLICATION TO modular robotics

KINEMATIC SYNTHESIS AND DYNAMIC ANALYSIS OF THE DUAL-ROD SLI...

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ASME International Design Engineering Technical Conferences/Computers Information in Engineering Conference

作者： Moubarak, Paul M. Ben-Tzvi, Pinhas Ma, Zhou Alvarez, Eric J. George Washington Univ Robot & Mechatron Lab Washington DC 20037 USA

ISBN: (纸本)9780791845035

In mechanism theory and design, no work has been reported on the kinematic synthesis and dynamic analysis of the dual-rod slider rocker mechanism. By definition, this system is equivalent to two traditional slider-rocker mechanisms that share a common rocker, where the two sliders translate along two opposite directions of motion. Unlike a single slider-rocker mechanism, the dual-rod-based mechanism exhibits unique kinematic characteristics in which the two sliders do not travel the same distance for the same rocker rotation. This paper presents an optimal analysis that outlines the early investigations on the kinematic design and dynamic analysis of the dual-rod slider rocker mechanism. Because of the translation difference that exists between the two sliders, an expression for the relative position error is derived. This error is integrated as a cost function in an optimization problem which calculates the optimal rod length that allows the two sliders to meet terminal boundary conditions. These kinematics are validated experimentally through a case-study application in modular robotic docking,

关键词： Dual-rod slider rocker mechanism kinematic synthesis dynamics modular robotics docking

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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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