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Development and performance evaluation of a grass-cutting attachment for an autonomous off-road platform

SMART AGRICULTURAL TECHNOLOGY 2025年 10卷

作者： Roshanianfard, Ali Blum, Tamir Sigalingging, Jeffri Alfonso Cheng, Yucheng Saul, Heikki Kisui Tech Co Ltd Dept Res & Dev Kashiwa Chiba Japan Univ Mohaghegh Ardabili Fac Agr & Nat Resources Dept Biosyst Engn 13131-56199 Ardebil Iran

Compact and modular unmanned ground vehicles represent a transformative approach to addressing critical challenges in the global agricultural industry, potentially significantly enhancing total factor productivity. This study focuses on the development and performance evaluation of a grass-cutting attachment designed for the Adam robot, an autonomous open mobility platform specifically designed for off-road applications to underscore the potential of integrating autonomous platforms with purpose-built attachments to revolutionize modern agricultural practices. The main objectives were to improve the system's applicability, facilitate multifunctional land management, reduce labor dependency, and provide a versatile tool for data-driven, optimized vegetation control. The designed system was a grass-cutting attachment incorporating a single medium-lift blade powered by a direct rotary electric motor and an electro-hydraulic height adjustment mechanism. Performance evaluations were conducted based on parameters including cutting efficiency, power consumption, durability and wear, ease of use, safety, maintenance requirements, environmental impact, cost-effectiveness, versatility, and mulching capability, all assessed according to established standards. Results showed an average cutting rate of 26.04 m2 center dot min- 1 and 26.23m2 center dot min(- 1) on flat and sloped fields, respectively, with consistent high-quality cutting and mulching performance. The system's average input power was measured at 281.3 W, and sound levels were recorded at 67.3 dB, 74.3 dB, and 76.2cdB at 50 %, 75 %, and 100 % operating capacity, respectively. While the overall performance was deemed acceptable, areas such as installation methodology, some power criteria, and safety systems present opportunities for refinement in future iterations.

关键词： UGV Autonomous agricultural machinery Vegetation control Sustainable farming practice modular robotics Precision agriculture

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Rapid and automated configuration of robot manufacturing cells

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 2025年 92卷

作者： Asif, Seemal Bueno, Mikel Ferreira, Pedro Anandan, Paul Zhang, Ze Yao, Yue Ragunathan, Gautham Tinkler, Lloyd Sotoodeh-Bahraini, Masoud Lohse, Niels Webb, Phil Hutabarat, Windo Tiwari, Ashutosh Cranfield Univ Ctr Robot & Assembly Cranfield Beds England Loughborough Univ Intelligent Automat Ctr Wolfson Sch Mech Elect & Mfg Engn Loughborough England Univ Sheffield Dept Automat Control & Syst Engn Sheffield England Univ Sheffield Adv Mfg Res Ctr AMRC Sheffield England

This study presents the Reconfigurable and Responsive Robot Manufacturing (R3M) architecture, a novel framework engineered to autonomously adapt to fluctuating product variants and demands within manufacturing environments. At the heart of R3M lies an integrated architecture that ensures a seamless data flow between critical modules, facilitated by an advanced communication platform. These modules are central to delivering a range of services crucial for operational efficiency. Key to the architecture is the incorporation of Automated Risk Assessment aligned with ISO-12100 standards, utilizing ROS2 Gazebo for the dynamic modification of robot skills in a plug-and-produce manner. The architecture's unique approach to requirements definition employs AutomationML (AML), enabling effective system integration and the consolidation of varied information sources. This is achieved through the innovative use of skill-based concepts and AML Class Libraries, enhancing the system's adaptability and integration within manufacturing settings. The narrative delves into the intricate descriptions of products, equipment, and processes within the AML framework, highlighting the strategic consideration of profitability in the product domain and distinguishing between atomic and composite skills in equipment characterization. The process domain serves as an invaluable knowledge repository, bridging the gap between high-level product demands and specific equipment capabilities via process patterns. The culmination of these elements within the R3M framework provides a versatile and scalable solution poised to revolutionize manufacturing processes. Empirical results underscore the architecture's robust perception abilities, with a particular focus on a real-world application in robotic lamination stacking, elucidating both the inherent challenges and the tangible outcomes of the R3M deployment.

关键词： Reconfigurable manufacturing modular robotics Common communication platform Autonomous systems Robot perception Autonomous program generation Reconfigurable architecture Manufacturing automation

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A Reconfigurable Omnidirectional Soft Robot Based on Caterpillar Locomotion

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SOFT robotics 2018年第2期5卷 164-174页

作者： Zou, Jun Lin, Yangqiao Ji, Chen Yang, Huayong Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou 310027 Zhejiang Peoples R China

A pneumatically powered, reconfigurable omnidirectional soft robot based on caterpillar locomotion is described. The robot is composed of nine modules arranged as a three by three matrix and the length of this matrix is 154 mm. The robot propagates a traveling wave inspired by caterpillar locomotion, and it has all three degrees of freedom on a plane (X, Y, and rotation). The speed of the robot is about 18.5 m/h (two body lengths per minute) and it can rotate at a speed of 1.63 degrees/s. The modules have neodymium-iron-boron (NdFeB) magnets embedded and can be easily replaced or combined into other configurations. Two different configurations are presented to demonstrate the possibilities of the modular structure: (1) by removing some modules, the omnidirectional robot can be reassembled into a form that can crawl in a pipe and (2) two omnidirectional robots can crawl close to each other and be assembled automatically into a bigger omnidirectional robot. Omnidirectional motion is important for soft robots to explore unstructured environments. The modular structure gives the soft robot the ability to cope with the challenges of different environments and tasks.

关键词： bio robotics modular robotics omnidirectional mobile robot soft robotics

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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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On the potential contributions of hybrid intelligent approaches to Multicomponent Robotic System development

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INFORMATION SCIENCES 2010年第14期180卷 2635-2648页

作者： Duro, R. J. Grana, M. de Lope, J. Univ A Coruna EPS Grp Integrado Ingn Ferrol 15403 Coruna Spain Univ Basque Country Grp Inteligencia Computac E-48080 Bilbao Spain Univ Politecn Madrid Grp Percepc Computac & Robot E-28040 Madrid Spain

The area of cognitive or intelligent robotics is moving from the single monolithic robot control and behavior problem to that of controlling robots with multiple components or 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 Multicomponent Robotic Systems focusing on providing some insights into where Hybrid Intelligent Systems could provide key contributions to its advancement. Thus, the aim is to identify prospective research areas and to try to delimit the field from the point of view of the following essential problem: how to coordinate multiple robotic elements in order to perform useful tasks. (C) 2010 Elsevier Inc. All rights reserved.

关键词： Intelligent robotics Multi-robot systems modular robotics

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Soft Actuator with Programmable Design: Modeling, Prototyping, and Applications

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SOFT robotics 2022年第5期9卷 907-925页

作者： Kan, Zicheng Pang, Chohei Zhang, Yazhan Yang, Yang Wang, Michael Yu Hong Kong Univ Sci & Technol Dept Mech & Aerosp Engn Kowloon Hong Kong 999077 Peoples R China Hong Kong Univ Sci & Technol Dept Elect & Comp Engn Kowloon Hong Kong Peoples R China Nanjing Univ Informat Sci & Technol Sch Automat Nanjing 210044 Peoples R China

Designs of soft actuators are mostly guided and limited to certain target functionalities. This article presents a novel programmable design for soft pneumatic bellows-shaped actuators with distinct motions, thus a wide range of functionalities can be engendered through tuning channel parameters. According to the design principle, a kinematic model is established for motion prediction, and a sampling-based optimal parameter search is executed for automatic design. The proposed design method and kinematic models provide a tool for the generation of an optimal channel curve, with respect to target functions and required motion trajectories. Quantitative characterizations on the analytical model are conducted. To validate the functionalities, we generate three types of actuators to cover a wide range of motions in manipulation and locomotion tasks. Comparisons of model prediction on motion trajectory and prototype performance indicate the efficacy of the forward kinematics, and two task-based optimal designs for manipulation scenarios validate the effectiveness of the design parameter search. Prototyped by additive manufacturing technique with soft matter, multifunctional robots in case studies have been demonstrated, suggesting adaptability of the structure and convenience of the soft actuator's automatic design in both manipulation and locomotion. Results show that the novel design method together with the kinematic model paves a way for designing function-oriented actuators in an automatic flow.

关键词： soft robotics programmable modality kinematic modeling task-oriented design modular robotics manipulation locomotion

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R2P: An open source hardware and software modular approach to robot prototyping

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robotics AND AUTONOMOUS SYSTEMS 2014年第7期62卷 1073-1084页

作者： Bonarini, Andrea Matteucci, Matteo Migliavacca, Martino Rizzi, Davide Politecn Milan Dept Elect & Informat Milan Italy

Rapid prototyping is a key aspect for the development of innovative robotic applications. A modular, platform-based, approach is the way to obtain this result. modular approaches are common for software development, but hardware is still crafted often re-inventing solutions every time. As a consequence, the resources that should be invested in the development of a new robot get often drained by the implementation of a physical, working prototype to test the application idea. To overcome this problem, we propose R2P (Rapid Robot Prototyping), a framework to implement real-time, high-quality architectures for robotic systems with off-the-shelf basic modules (e.g., sensors, actuators, and controllers), integrating hardware and software, which can be assembled in a plug-and-play way. R2P provides hardware modules, a protocol for real-time communication, a middleware to connect components as well as tools to support the development of software on the modules. R2P aims at dramatically reduce time and efforts required to build a prototype robot, making it possible to focus the resources on the development of new robotic applications instead of struggling on their implementation. This enables also people with experience in a specific application domain, but with little technical background, to actively participate in the development of new robotic applications. R2P is open-source both in its software and hardware to promote its diffusion among the robotics community and novel business models that will substantially reduce the costs to design a new robotic product. (C) 2013 Elsevier B.V. All rights reserved.

关键词： modular robotics Low-cost robotics Off-the-shelf hardware components Open hardware Rapid robot prototyping

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On modular design of field robotic systems

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AUTONOMOUS ROBOTS 2001年第1期10卷 57-65页

作者： Farritor, S Dubowsky, S Univ Nebraska Dept Mech Engn Lincoln NE 68588 USA MIT Dept Mech Engn Cambridge MA 02139 USA

Robots are needed to perform important field tasks such as hazardous material clean-up, nuclear site inspection, and space exploration. Unfortunately their use is not widespread due to their long development times and high costs. To make them practical, a modular design approach is proposed. Prefabricated modules are rapidly assembled to give a low-cost system for a specific task. This paper described the modular design problem for field robots and the application of a hierarchical selection process to solve this problem. Theoretical analysis and an example case study are presented. The theoretical analysis of the modular design problem revealed the large size of the search space. It showed the advantages of approaching the design on various levels. The hierarchical selection process applies physical rules to reduce the search space to a computationally feasible size and a genetic algorithm performs the final search in a greatly reduced space. This process is based on the observation that simple physically based rules can eliminate large sections of the design space to greatly simplify the search. The design process is applied to a duct inspection task. Five candidate robots were developed. Two of these robots are evaluated using detailed physical simulation. It is shown that the more obvious solution is not able to complete the task, while the non-obvious asymmetric design develop by the process is successful.

关键词： modular robotics modular design genetic design field robots mobile robots

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A review of coupling mechanism designs for modular reconfigurable robots

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ROBOTICA 2019年第2期37卷 378-403页

作者： Saab, Wael Racioppo, Peter Ben-Tzvi, Pinhas Virginia Tech Dept Mech Engn Robot & Mechatron Lab Blacksburg VA 24061 USA

With the increasing demands for versatile robotic platforms capable of performing a variety of tasks in diverse and uncertain environments, the needs for adaptable robotic structures have been on the rise. These requirements have led to the development of modular reconfigurable robotic systems that are composed of a numerous self-sufficient modules. Each module is capable of establishing rigid connections between multiple modules to form new structures that enable new functionalities. This allows the system to adapt to unknown tasks and environments. In such structures, coupling between modules is of crucial importance to the overall functionality of the system. Over the last two decades, researchers in the field of modular reconfigurable robotics have developed novel coupling mechanisms intended to establish rigid and robust connections, while enhancing system autonomy and reconfigurability. In this paper, we review research contributions related to robotic coupling mechanism designs, with the aim of outlining current progress and identifying key challenges and opportunities that lay ahead. By presenting notable design approaches to coupling mechanisms and the most relevant efforts at addressing the challenges of sensorization, misalignment tolerance, and autonomous reconfiguration, we hope to provide a useful starting point for further research into the field of modular reconfigurable robotics and other applications of robotic coupling.

关键词： Robotic self-diagnosis and self-repair modular robotics Swarm robotics Multi-agent robot teams Sensor network

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A general stiffness model for programmable matter and modular robotic structures

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ROBOTICA 2011年第1期29卷 103-121页

作者： White, Paul J. Revzen, Shai Thorne, Chris E. Yim, Mark Univ Penn Dept Mech Engn & Appl Mech Philadelphia PA 19104 USA

The fields of modular reconfigurable robotics and programmable matter study how to compose functionally useful systems from configurations of modules. In addition to the external shape of a module configuration, the internal arrangement of modules and bonds between them can greatly impact functionally relevant mechanical properties such as load bearing ability. A fast method to evaluate the mechanical property aids the search for an arrangement of modules achieving a desired mechanical property as the space of possible configurations grows combinatorially. We present a fast approximate method where the bonds between modules are represented with stiffness matrices that are general enough to represent a wide variety of systems and follows the natural modular decomposition of the system. The method includes nonlinear modeling such as anisotropic bonds and properties that vary as components flex. We show that the arrangement of two types of bonds within a programmable matter systems enables programming the apparent elasticity of the structure. We also present a method to experimentally determine the stiffness matrix for chain style reconfigurable robots. The efficacy of applying the method is demonstrated on the CKBot modular robot and two programmable matter systems: the Rubik's snake folding chain toy and a right angle tetrahedron chain called RATChET7mm. By allowing the design space to be rapidly explored we open the door to optimizing modular structures for desired mechanical properties such as enhanced load bearing and robustness.

关键词： modular robotics Programmable Matter Lumped Parameter Stiffness Model

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