In this conceptual paper, we describe and define the range of possible applications, and the technical contours, of a robotic system to be worn on the body for playful interactions. Earlier work on a modular robotic w...
详细信息
In this conceptual paper, we describe and define the range of possible applications, and the technical contours, of a robotic system to be worn on the body for playful interactions. Earlier work on a modular robotic wearable (MRW) described how, by using modular robotics to create a wearable, it is possible to obtain a flexible wearable processing system where freely interchangeable input/output modules can be positioned on a body suit in accordance with the task at hand. Here, we guide attention toward early prototypes to show the potentialities of such an approach, and focus on depicting possible applications in the electronic games domain. Indeed, the MRW is an example of modular playware which can create playful interactions for many application domains, including electronic games.
We developed a modular robotic tile and a system composed of a number of these modular robotic tiles. The system composed of the modular robotic tiles engages the user in physical activities, e.g., physiotherapy, spor...
详细信息
We developed a modular robotic tile and a system composed of a number of these modular robotic tiles. The system composed of the modular robotic tiles engages the user in physical activities, e.g., physiotherapy, sports, fitness, and entertainment. The modular robotic tiles motivate the user to perform physical activities by providing immediate feedback based upon their physical interaction with the system. With the modular robotic tiles, the user is able to make new physical set-ups within less than a minute. The tiles are applicable for different forms of physical activities (e.g., therapeutic rehabilitation), and with the proper radio communication mechanism they may give unique possibilities for documentation of the physical activity (e.g., therapeutic treatment). A major point of concern in modular robotics is the connection mechanism, so we investigated different solutions for the connection between the modules, and outline their pros and cons for utilizing modules with different connection mechanisms as different kinds of playware. This kind of playware is highly motivating because of its immediate feedback and fun, interesting games.
"Raupi" is a prototype of a climbing robot. The robot is designed modularly, with the demands to climb on a pipe-like substrate and to change to another bar for avoiding. Research on biological climbers show...
详细信息
ISBN:
(纸本)9781424427123
"Raupi" is a prototype of a climbing robot. The robot is designed modularly, with the demands to climb on a pipe-like substrate and to change to another bar for avoiding. Research on biological climbers shows us, that the locomotion is driven by the trunk, not only by the limbs. So a trunk-driven concept is chosen as a base for the design process. The request by climbing locomotion to the mechanics of the system is very strong. The robot is build by only two different module types. The substrate contact has to be established and broken actively. A sensor concept a schematic was developed, with allow to determinate relevant sensor ranges depending on the desired type of control. It detects the relative position between gripping module and substrate by tactile sensors. The control of the robot is realized with four different modes. It is possible to switch between the modes. So it is possible to use the optimal control strategy for the actual situation.
This article addresses the problem of how modular robotics systems, i.e. systems composed of multiple modules that can be configured into different robotic structures, can learn to locomote. In particular, we tackle t...
详细信息
This article addresses the problem of how modular robotics systems, i.e. systems composed of multiple modules that can be configured into different robotic structures, can learn to locomote. In particular, we tackle the problems of online learning, that is, learning while moving, and the problem of dealing with unknown arbitrary robotic structures. We propose a framework for learning locomotion controllers based on two components: a central pattern generator (CPG) and a gradient-free optimization algorithm referred to as Powell's method. The CPG is implemented as a system of coupled nonlinear oscillators in our YaMoR modular robotic system, with one oscillator per module. The nonlinear oscillators are coupled together across modules using Bluetooth communication to obtain specific gaits, i.e. synchronized patterns of oscillations among modules. Online learning involves running the Powell optimization algorithm in parallel with the CPG model, with the speed of locomotion being the criterion to be optimized. Interesting aspects of the optimization include the fact that it is carried out online, the robots do not require stopping or resetting and it is fast. We present results showing the interesting properties of this framework for a modular robotic system. In particular, our CPG model can readily be implemented in a distributed system, it is computationally cheap, it exhibits limit cycle behavior ( temporary perturbations are rapidly forgotten), it produces smooth trajectories even when control parameters are abruptly changed and it is robust against imperfect communication among modules. We also present results of learning to move with three different robot structures. Interesting locomotion modes are obtained after running the optimization for less than 60 minutes.
In this paper, we review half a century of research on the design of systems displaying (physical) self-assembly of macroscopic components. We report on the experience gained in the design of 21 such systems, exhibiti...
详细信息
In this paper, we review half a century of research on the design of systems displaying (physical) self-assembly of macroscopic components. We report on the experience gained in the design of 21 such systems, exhibiting components ranging from passive mechanical parts to mobile robots. we present a taxonomy of the systems and discuss design principles and functions. Finally, we summarize the main achievements and indicate potential directions for future research.
Based on principles from modern artificial intelligence and robotics, we developed the RoboMusic concept. In RoboMusic, we use a number of robotic devices as instruments, and the tunes are composed as a behavior-based...
详细信息
Based on principles from modern artificial intelligence and robotics, we developed the RoboMusic concept. In RoboMusic, we use a number of robotic devices as instruments, and the tunes are composed as a behavior-based system. The music artist composes a baseline behavior for the robotic instruments, and composes the behavioral response to interactions by human musicians. The music artist is transformed from a composer of static music tunes to a developer of robot behavior: behavior that is expressed by the robotic system as music pieces. Music compositions are transformed to become robotic behavior as in a behavior-based system. A RoboMusic concert is performed with robotic instruments, and changes the concept of live concerts by inviting the audience to interact with the band's instruments themselves and thereby guide the live performance of the music themselves.
Analysis models are to describe the relationships between design variables and robotic Kinematic and Dynamic (K&D) behaviors. In designing modular robotic system configuration, design variables are identified thro...
详细信息
Analysis models are to describe the relationships between design variables and robotic Kinematic and Dynamic (K&D) behaviors. In designing modular robotic system configuration, design variables are identified through the description of the modular system architecture. Once the design variables have been determined, two alternative ways can be employed to build K&D models from design variables: direct modeling and indirect modeling. The first method builds up the K&D model directly based on design variables of the modular architecture, while the second method builds up the K&D model based on a set of the D-H parameters, which is derived from design variables. The advantage of the second method is that most of analysis theories and tools, which were developed in designing nonmodular robotic configurations, can be utilized directly for designing modular robotic configurations. In this paper, we propose a more general architecture of modular manipulator systems. Based on this new architecture, we propose a systematic procedure to generate a mapping from modular design variables and the configuration description in terms of the D-H notation. (C) 2006 Elsevier Ltd. All rights reserved.
In this article, the concept of a cellular robot that is capable of reconfiguring itself is reviewed. This "self-reconfigurable (SR) robot" exemplifies a new trend in robotics, indeed, we can now build vario...
详细信息
In this article, the concept of a cellular robot that is capable of reconfiguring itself is reviewed. This "self-reconfigurable (SR) robot" exemplifies a new trend in robotics, indeed, we can now build various kinds of SR robots with off-the-shelf technologies of processors, actuators, and sensors. These SR robots, based on modern mechatronics, are still not as adaptable as the liquid metal robot in The Terminator 2 but are just as flexible as any conventional robots
The Deformatron robot is a homogeneous, modular robot. The Deformatron modules can play one of three roles in the physical structure of the robot: bone, tendon, and muscle. These roles are inspired by their biological...
详细信息
ISBN:
(纸本)0780395050
The Deformatron robot is a homogeneous, modular robot. The Deformatron modules can play one of three roles in the physical structure of the robot: bone, tendon, and muscle. These roles are inspired by their biological counterparts. This combination of roles gives us a modular robot which potentially may have enough structural strength and actuation power to manipulate its environment and work in three dimension even in the presence of gravity. In this paper we present our preliminary LEGO-based prototype of the Deformatron robot. We measure and analyse the properties of the system in terms of structural strength and actuation power. Finally, we conclude that the Deformatron concept may provide an avenue of research which may make modular robots stronger and better suited for real world task environments.
暂无评论