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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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modular robotics as tools for design

Creativity and Cognition 2007, CC2007 - Seeding Creativity: ...

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Creativity and Cognition 2007, CC2007 - Seeding Creativity: Tools, Media, and Environments 2007年 298-298页

作者： Schweikardt, Eric Carnegie Mellon University Pittsburgh PA United States

No abstract available

ISBN: (纸本)1595937129

No abstract available

关键词： Constructionism Design Education modular robotics Toys

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Virtual Pheromone based Information Foraging in modular robotics

Virtual Pheromone based Information Foraging in Modular Robo...

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11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Van Tung Le Trung Dung Ngo Univ Brunei Darrussalam More Robot Lab 1 Gadong Brunei

ISBN: (纸本)9781479953332

A bio-inspired mechanism to optimize information foraging in modular robotics is presented. In this context, information exchange between robotic modules are performed through intercommunication of neighbouring robotic modules with limited hardware resources. Inspired from real ant colony research, we propose virtual pheromone as a metric for parameters selection to improve communication quality in modular robotic systems. Experiment results on real robotic platforms illustrate properties of proposed method.

关键词： modular robotics Information Foraging Virtual Pheromone

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Techniques for Modeling Simulation Environments for modular robotics

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IFAC Proceedings Volumes 2012年第2期45卷 210-215页

作者： Vojtěch Vonásek Miroslav Kulich Tomáš Krajník Martin Saska Daniel Fišer Vladimír Petrík Libor Přeučil Czech Technical University in Prague Faculty of electrical engineering Department of cybernetics Technicka 2 Prague 6 166 27

Abstract In modular robotics, complex structures can be formed from basic modules to solve tasks which would be difficult for a single robot. The development of techniques for adaptation and evolution of multi-robot organisms is the subject of Symbrion project Levi and Kernbach (2010). In the project, the bio-inspired evolutionary algorithms are massively simulated prior to run them on a real hardware. It is crucial to evolve behaviors of the robots in a simulation, that is close to a real world. Hence, accurate and efficient representation of an environment in the simulation is needed. The robots learn simple motion primitives or complex movement patterns during many runs of the evolution. The learned skills are then used during experiments with a real hardware. In this paper, we present methods for building 3D model of a real arena using a laser rangefinder. The resulting 3D models consist of triangles. They can be constructed in various level of details using state-of-the-art methods for 3D reconstruction. We will show, how the size of the models influences the speed of the simulation.

关键词： modular robotics simulation 3D model reconstruction

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On the Need of Hybrid Intelligent Systems in modular and Multi robotics

On the Need of Hybrid Intelligent Systems in Modular and Mul...

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3rd International Workshop on Hybrid Artificial Intelligence Systems

作者： Duro, R. J. Grana, M. de Lope, J. Univ A Coruna Grp Integrado Ingn Coruna Spain Univ Pals Vasco Vasco Spain Univ Politenica Madrid Percepcion Comp Robotica Madrid Spain

ISBN: (纸本)9783540876557

The area of cognitive or intelligent robotics is moving from the single robot control and behavior problem to that of controlling multiple robots operating together and even collaborating in dynamic and unstructured environments. This paper introduces the topic and provides a general overview of the current state of the field of modular and multi robotics taking both of these subareas as different representations of the same problem: how to coordinate multiple elements in order to perform useful tasks. The review shows where Hybrid Intelligent Systems could provide key contributions to the advancement of the field.

关键词： Intelligent robotics multi-robot systems modular robotics

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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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Reconfigurable and modular Mobile robotics Platform for Remote Experiments

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INTERNATIONAL JOURNAL OF ONLINE ENGINEERING 2013年第3期9卷 19-26页

作者： Verbelen, Yannick Taelman, Pieter Braeken, An Touhafi, Abdellah Eramsus Univ Coll Brussels Brussels Belgium Vrije Univ Brussel Brussels Belgium

In this paper a hardware and software architecture based on a modular approach for a reconfigurable mobile robot is developed with intended use as remote experiment. A Field Programmable Gate Array (FPGA) was chosen as control unit for the robot and allows the implementation of custom hardware and software by the user. FPGA configurations are downloaded to the robot using a selectable wireless interface. Users can take control of all elementary robot hardware, and an on-system recovery mechanism is included to ensure a fallback to a golden image in case of errors in downloaded bit streams.

关键词： modular robotics FPGA remote reconfiguration

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TETROBOT: A modular approach to parallel robotics

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IEEE robotics & AUTOMATION MAGAZINE 1997年第1期4卷 42-50页

作者： Hamlin, GJ Sanderson, AC RENSSELAER POLYTECH INST DEPT ELECT COMP & SYST ENGN TROY NY USA RENSSELAER POLYTECH INST CTR ADV TECHNOL AUTOMAT ROBOT & MFG TROY NY USA

The TETROBOT is an actuated robotic structure which mag! be reassembled into many different configurations while still being controlled by the same hardware and software architecture. The TETROBOT system addresses the needs of application domains, such as space, undersea, mining, and construction, where adaptation to unstructured and changing environments and custom design for rapid implementation are required.

关键词： modular robotics parallel robotics hyperredundant spherical joint

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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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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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