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作者： Tarik Daniel Tosun University of Pennsylvania

学位级别：博士

Developing flexible, broadly capable systems is essential for robots to move out of factories and into our daily lives, functioning as responsive agents that can handle whatever the world throws at them. This dissertation focuses on two kinds of robot adaptation. modular self-reconfigurable robots (MSRR) adapt to the requirements of their task and environments by transforming themselves. By rearranging the connective structure of their component robot modules, these systems can assume different morphologies: for example, a cluster of modules might configure themselves into a car to maneuver on flat ground, a snake to climb stairs, or an arm to pick and place objects. Conversely, environment augmentation is a strategy in which the robot transforms its environment to meet its own needs, adding physical structures that allow it to overcome obstacles. In both areas, the presented work includes elements of hardware design, algorithms, and integrated systems, with the common goal of establishing these methods of adaptation as viable strategies to address tasks. The research takes a systems-level view of robotics, placing particular emphasis on experimental validation in hardware.

关键词： Design Environment Augmentation modular robotics Robot Systems

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Distributed algorithms and advanced modeling approaches for fast and efficient object construction using a modular self-reconfigurable robotic system

Distributed algorithms and advanced modeling approaches for ...

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作者： Thalamy, Pierre

学位级别：博士

Les humains ont de tout temps cherché à contrôler leur environnement. Mais avec l'arrivée de l'ère numérique, une technologie émergente promet de devenir l'outil ultime d... 详细信息

Les humains ont de tout temps cherché à contrôler leur environnement. Mais avec l'arrivée de l'ère numérique, une technologie émergente promet de devenir l'outil ultime de cette quête : la matière programmable. Bien que toute forme de matière pouvant être programmée pour réagir de façon autonome à un stimulus puisse prétendre à cette dénomination, son substrat le plus prometteur réside dans les systèmes robotiques modulaires. Ces systèmes robotiques sont composés de modules interconnectés, autonomes, et aux ressources limitées, devant se coordonner par leurs communications et leurs mouvements afin d'accomplir des tâches *** matière programmable pourrait être utilisée pour réaliser les systèmes de représentation de demain: des affichages tangibles et interactifs en 3D, qui promettent de révolutionner la façon dont nous interagissons avec le monde virtuel. Des ensembles de robots modulaires composés de plusieurs milliers de modules peuvent s'organiser pour former des objets tangibles capables de se transformer à l'infini sur demande. D'un point de vue algorithmique, cependant, ce processus d'autoreconfiguration représente un défi considérable à cause des contraintes cinématiques, temporelles, de contrôle, et de communication, auxquelles sont soumis les *** défendons dans cette thèse qu'il existe des moyens d'accélérer la reconfiguration des systèmes de matière programmable, et qu'une nouvelle classe de méthodes de reconfiguration plus rapide et mieux adaptée aux systèmes de représentation tangibles doit voir le jour. Nous soutenons qu'il est possible de parvenir à de telles méthodes en proposant une nouvelle façon de représenter les objets faits de matière programmable, et en utilisant une plateforme d'assistance dédiée à l'*** conséquent, nous proposons un cadre pour réaliser cette approche innovante sur des ensembles de modules quasi-sphériques arrangés en structures cristallines cubiques à faces centrées, et présentons des algo

关键词： Matière programmable Algorithmes distribués Robotique modulaire Autoreconfiguration Systèmes multi-agents Programmable matter Distributed algorithms modular robotics Self-reconfiguration Multi-agent systems 005.1

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Konfigurace robotické struktury za použití MOLECUBES

Konfigurace robotické struktury za použití MOLECUBES

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作者： Vítek, Filip Brno University of Technology

Tato diplomová práce je zaměřena na sebe-rekonfigurovatelné modulární robotické systémy. Nejprve je proveden jejich popis a poté jsou uvedeny možnosti jejich využití. Dalš... 详细信息

Tato diplomová práce je zaměřena na sebe-rekonfigurovatelné modulární robotické systémy. Nejprve je proveden jejich popis a poté jsou uvedeny možnosti jejich využití. Další kapitola pojednává o modulárním systému Molecubes. Následuje návrh podobného systému, kde je popsána konstrukce jednotlivých modulů. Na závěr práce jsou popsány transformace souřadných systémů v jednotlivých modulech a proveden výpočet přímé kinematiky a simulace inverzní kinematiky.

关键词： Molecubes modulární robotika seberekonfigurovatelné modulární robotické systémy přímá kinematika inverzní kinematika Molecubes modular robotics selfreconfigurable modular robotics systems forward kinematics inverse kinematics Text

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Aplikace technologie MOLECUBES v robotice

Aplikace technologie MOLECUBES v robotice

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作者： Fabián, Petr Brno University of Technology

Tato diplomová práce pojednává o modulární robotice a seberekonfigurovatelných robotických systémech. Na úvod jsou systémy definovány a rozděleny, hlavn... 详细信息

Tato diplomová práce pojednává o modulární robotice a seberekonfigurovatelných robotických systémech. Na úvod jsou systémy definovány a rozděleny, hlavní důraz je kladen na Molecubes. Dále je navrhnut systém podobný, se zaměřením na vlastní konstrukci jednotlivých modulů. V závěru je provedeno několik ukázkových možností sestavení a nastínění dalšího vývoje.

关键词： Molecubes modulární robotika M-Tran Poly-Bot Superbot Molecubes modular robotics M-Tran Poly-Bot Superbot Text

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Self-Amputating and Interfusing Machines

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ADVANCED MATERIALS 2024年第32期36卷 2400241-2400241页

作者： Yang, Bilige Nasab, Amir Mohammadi Woodman, Stephanie J. Thomas, Eugene Tilton, Liana G. Levin, Michael Kramer-Bottiglio, Rebecca Yale Univ Sch Engn & Appl Sci 9 Hillhouse Ave New Haven CT 06511 USA Tufts Univ Dept Biol Allen Discovery Ctr 200 Boston Ave Suite 4604 Medford MA 02155 USA Harvard Univ Wyss Inst Biolog Inspired Engn 3 Blackfan Cir Boston MA 02115 USA

Biological organisms exhibit phenomenal adaptation through morphology-shifting mechanisms including self-amputation, regeneration, and collective behavior. For example, reptiles, crustaceans, and insects amputate their own appendages in response to threats. Temporary fusion between individuals enables collective behaviors, such as in ants that temporarily fuse to build bridges. The concept of morphological editing often involves the addition and subtraction of mass and can be linked to modular robotics, wherein synthetic body morphology may be revised by rearranging parts. This work describes a reversible cohesive interface made of thermoplastic elastomer that allows for strong attachment and easy detachment of distributed soft robot modules without direct human handling. The reversible joint boasts a modulus similar to materials commonly used in soft robotics, and can thus be distributed throughout soft robot bodies without introducing mechanical incongruities. To demonstrate utility, the reversible joint is implemented in two embodiments: a soft quadruped robot that self-amputates a limb when stuck, and a cluster of three soft-crawling robots that fuse to cross a land gap. This work points toward future robots capable of radical shape-shifting via changes in mass through autotomy and interfusion, as well as highlights the crucial role that interfacial stiffness change plays in autotomizable biological and artificial systems. Yang et al. introduce a reversible cohesive interface made of thermoplastic elastomer that allows for strong attachment and easy detachment of distributed soft robot modules without direct human handling. The reversible joint boasts a modulus similar to materials commonly used in soft robotics and can be distributed throughout soft robot bodies without introducing mechanical incongruities. image

关键词： autotomy modular robotics soft robotics

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An automated platform for assembling light-powered hydrogel microrobots and their subsequent chemical binding

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JOURNAL OF COMPUTATIONAL SCIENCE 2021年 55卷

作者： Vrba, Jan Maslen, Charlie Maxova, Jana Duras, Jan Rehor, Ivan Mares, Jan Univ Chem & Technol Prague Fac Chem Engn Tech 5 Prague 16628 6 Czech Republic Inst Organ Chem & Biochem Flamingovo Namesti Prague 16000 Czech Republic

This paper presents light powered hydrogel microrobots (100 mu m), that are directed to specific locations in their environment by an automated platform. The microrobots are actuated by focused laser light and crawl in aqueous environments by periodic volumetric changes of a section of their bodies. The platform consists of a stage, manipulated by stepper drivers and controlled by a Raspberry PI 4. This positions the laser light in the desired locations to move microrobots towards a goal location. The microrobots are localized via a microscope camera and repetitive usage of an algorithm based on Hough Gradient Method. The optimal position for the laser is chosen before every step so that the disk reaches the goal as fast as possible. Multiple disks are moved to form a formation of predefined geometry. An algorithm for finding the optimum sequence of disk movements to suitable positions is introduced. Subsequently, the disks are bound together chemically, using local UV illumination as the binding trigger. The bound formation can perform useful tasks, such as pushing and depositing a cargo at a target location.

关键词： robotics Image processing Pattern recognition Motion control Microrobots Hydrogel PNIPAM Radical crosslinking modular robotics

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Engineering efficient and massively parallel 3D self-reconfiguration using sandboxing, scaffolding and coating

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robotics AND AUTONOMOUS SYSTEMS 2021年 146卷 103875-103875页

作者： Thalamy, Pierre Piranda, Benoit Bourgeois, Julien Univ Bourgogne Franche Comte UBFC CNRS FFMTO ST Inst 1 Cours Leprince Ringuet F-25200 Montbeliard France

Programmable matter based on modular self-reconfigurable robots could stand as the ultimate form of display system, through which humans could not only see the virtual world in 3D, but manipulate it and interact with it through touch. These systems rely on self-reconfiguration processes to reshape themselves and update their representation, using methods that we argue, are currently too slow for such applications due to a lack of parallelism in the motion of the robotic modules. Therefore, we propose a novel approach to the problem, promising faster and more efficient self-reconfigurations in programmable matter display systems. We contend that this can be achieved by using a dedicated platform supporting self-reconfiguration named a sandbox, acting as a reserve of modules, and by engineering the representation of objects using an internal scaffolding covered by a coating. This paper introduces a complete view of our framework for realizing this approach on quasi-spherical modules arranged in a face-centered cubic lattice. After thoroughly discussing the model, motivations, and making a case for our method, we synthesize results from published research highlighting its benefits and engage in an honest and critical discussion of its current state of implementation and perspectives. (C) 2021 Elsevier B.V. All rights reserved.

关键词： Programmable matter Distributed algorithms modular robotics Self-reconfiguration Multi-agent systems

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A Graph-Based Hybrid Reconfiguration Deformation Planning for modular Robots

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SENSORS 2023年第18期23卷 7892-7892页

作者： Wei, Ruopeng Liu, Yubin Dong, Huijuan Zhu, Yanhe Zhao, Jie Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Peoples R China

The self-reconfigurable modular robotic system is a class of robots that can alter its configuration by rearranging the connectivity of their component modular units. The reconfiguration deformation planning problem is to find a sequence of reconfiguration actions to transform one reconfiguration into another. In this paper, a hybrid reconfiguration deformation planning algorithm for modular robots is presented to enable reconfiguration between initial and goal configurations. A hybrid algorithm is developed to decompose the configuration into subconfigurations with maximum commonality and implement distributed dynamic mapping of free vertices. The module mapping relationship between the initial and target configurations is then utilized to generate reconfiguration actions. Simulation and experiment results verify the effectiveness of the proposed algorithm.

关键词： modular robotics self-reconfiguration mobile robotics reconfiguration deformation swarm robotics path planning for multiple mobile robots

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usBot: A modular Robotic Testbed for Programmable Self-Assembly

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IFAC-PapersOnLine 2019年第15期52卷 121-126页

作者： Usman A. Fiaz Jeff S. Shamma Department of Electrical & Computer Engineering University of Maryland College Park MD USA Computer Electrical & Mathematical Science & Engineering Division King Abdullah University of Science & Technology Thuwal KSA

We present the design, characterization, and experimental results for a new modular robotic system for programmable self-assembly. The proposed system uses the Hybrid Cube Model (HCM), which integrates classical features from both deterministic and stochastic self-organization models. Thus, for instance, the modules are passive as far as their locomotion is concerned (stochastic), and yet they possess an active undocking routine (deterministic). The robots are constructed entirely from readily accessible components and unlike many existing robots, their excitation is not fluid mediated. Instead, the actuation setup is a solid state, independently programmable, and highly portable platform. The system is capable of demonstrating fully autonomous and distributed stochastic self-assembly in two dimensions. It is shown to emulate the performance of several existing modular systems and promises to be a substantial effort towards developing a universal testbed for programmable self-assembly.

关键词： robotics modular robotics mechanisms mechatronic systems multi-agent systems

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A Frequency Modulation-Based Taxel Array: A Bio-Inspired Architecture for Large-Scale Artificial Skin

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SENSORS 2021年第15期21卷 5112-5112页

作者： Assaf, Tareq Univ Bath Dept Elect & Elect Engn Bath BA2 7AY Avon England

This work introduces an array prototype based on a Frequency Modulation (FM) encoding architecture to transfer multiple sensor signals on a single wire. The use case presented adopts Hall-effect sensors as an example to represent a much larger range of sensor types (e.g., proximity and temperature). This work aims to contribute to large area artificial skin systems which are a key element to enhance robotic platforms. Artificial skin will allow robotic platforms to have spatial awareness which will make interaction with objects and users safe. The FM-based architecture has been developed to address limitations in large-scale artificial skin scalability. Scalability issues include power requirements;number of wires needed;as well as frequency, density, and sensitivity bottlenecks. In this work, eight sensor signals are simultaneously acquired, transferred on a single wire and decoded in real-time. The overall taxel array current consumption is 36 mA. The work experimentally validates and demonstrates that different input signals can be effectively transferred using this approach minimizing wiring and power consumption of the taxel array. Four different tests using single as well as multiple stimuli are presented. Observations on performances, noise, and taxel array behaviour are reported. The results show that the taxel array is reliable and effective in detecting the applied stimuli.

关键词： artificial skin modular robotics tactile sensing

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