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ARTIFICIAL LIFE AND robotics 2010年第4期15卷 381-384页

作者： Pagliarini, Luigi Lund, Henrik Hautop Tech Univ Denmark Ctr Playware DK-2800 Lyngby Denmark Acad Fine Arts Bari Bari Italy

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.

关键词： Wearable Playware modular robotics Art Physical games

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modular robotic tiles: experiments for children with autism

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ARTIFICIAL LIFE AND robotics 2009年第2期13卷 394-400页

作者： Lund, Henrik Hautop Pedersen, Martin Dam Beck, Richard Tech Univ Denmark Ctr Playware DK-2800 Lyngby Denmark

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.

关键词： modular robotics Human-robot interaction Playware Therapy

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A modular robot climbing on pipe-like structures

A modular robot climbing on pipe-like structures

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4th International Conference on Autonomous Robots and Agents

作者： Maempel, Joerg Gerlach, Kurt Schilling, Cornelius Witte, Hartmut Ilmenau Univ Technol Dept Biomechatron Ilmenau Germany

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.

关键词： climbing modular robotics biologically inspired robots

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Learning to move in modular robots using central pattern generators and online optimization

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2008年第3-4期27卷 423-443页

作者： Sproewitz, Alexander Moeckel, Rico Maye, Jerome Ijspeert, Auke Jan Ecole Polytech Fed Lausanne Sch Comp & Commun Sci CH-1015 Lausanne Switzerland

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.

关键词： central pattern generators modular robotics online learning locomotion Powell's method bluetooth

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Self-assembly at the macroscopic scale

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PROCEEDINGS OF THE IEEE 2008年第9期96卷 1490-1508页

作者： Gross, Roderich Dorigo, Marco Univ Bristol Sch Biol Sci Bristol Avon England Unilever R&D Port Sunlight Bebington England Univ Libre Bruxelles CoDE IRIDIA B-1050 Brussels Belgium

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.

关键词： Brownian motion formation growth macroscopic modular robotics self-assembly self-propelled selfreconfiguration self-repair self-replication taxonomy

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RoboMusic: a behavior-based approach

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ARTIFICIAL LIFE AND robotics 2008年第1-2期12卷 18-23页

作者： Lund, Henrik Ottesen, Martin Univ Southern Denmark Maersk McKinney Moller Inst Campusvej 55 DK-5230 Odense M Denmark

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.

关键词： Robot music Behavior-based robotics modular robotics Dynamic music

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Automated geneartion of the D-H parameters for configuration design of modular manipulators

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 2007年第5期23卷 553-562页

作者： Bi, Z. M. Zhang, W. J. Chen, I.-M. Lang, S. Y. T. Univ Saskatchewan Dept Mech Engn Saskatoon SK S7N 5A9 Canada CNR Integrated Mfg Technol Inst London ON N6G 4X8 Canada Nanyang Technol Univ Sch Mech & Prod Engn Singapore 639798 Singapore

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.

关键词： modular robotics robotic kinematics robotic dynamics automated modeling parametric conversion

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Self-reconfigurable robots - Shape-changing cellular robots can exceed conventional robot flexibility

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IEEE robotics & AUTOMATION MAGAZINE 2007年第1期14卷 71-78页

作者： Murata, Satoshi Kurokawa, Haruhisa Tokyo Inst Technol Dept Computat Intelligence & Syst Sci Midori Ku Yokohama Kanagawa 2268502 Japan Minist Int Trade & Ind Inst Adv Ind Sci & Technol Mech Engn Lab Tokyo Japan

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

关键词： self-reconfigurable robots modular robotics shape shifting self-assembly self-repair evolutionary robotics

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Self-assembling modular robotic structures - Standard units with swappable payloads

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IEEE robotics & AUTOMATION MAGAZINE 2007年第4期14卷 26-33页

作者： Howe, A. Scott NASA Jet Propuls Lab Mission Syst Concepts Sect Explorat Syst Concepts Grp Pasadena CA 91109 USA

The application of cellular automata to 3-D real-world applications has resulted in lattice-type modular robotic systems.

关键词： modular robotics self-reconfiguring structures space construction

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The deformatron robot: a biologically inspired homogeneous modular robot

The deformatron robot: a biologically inspired homogeneous m...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Stoy, Kasper Univ So Denmark Maersk McKinney Moller Inst Prod Technol Odense Denmark

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.

关键词： modular robotics embodied artificial intelligence

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