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

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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Modelling a hormone-inspired controller for individual- and multi-modular robotic systems

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MATHEMATICAL AND COMPUTER MODELLING OF DYNAMICAL SYSTEMS 2011年第3期17卷 221-242页

作者： Schmickl, Thomas Hamann, Heiko Crailsheim, Karl Karl Franzens Univ Graz Dept Zool Artificial Life Lab A-8010 Graz Austria

For all living organisms, the ability to regulate internal homeostasis is a crucial feature. This ability to control variables around a set point is found frequently in the physiological networks of single cells and of higher organisms. Also, nutrient allocation and task selection in social insect colonies can be interpreted as homeostatic processes of a super-organism. And finally, behaviour can also represent such a control scheme. We show how a simple model of hormone regulation, inspired by simple biological organisms, can be used as a novel method to control the behaviour of autonomous robots. We demonstrate the formulation of such an artificial homeostatic hormone system (AHHS) by a set of linked difference equations and explain how the homeostatic control of behaviour is achieved by homeostatic control of the internal 'hormonal' state of the robot. The first task that we used to check the quality of our AHHS controllers was a very simple one, which is often a core functionality in controller programmes that are used in autonomous robots: obstacle avoidance. We demonstrate two implementations of such an AHHS controller that performs this task in differing levels of quality. Both controllers use the concept of homeostatic control of internal variables (hormones) and they extend this concept to also include the outside world of the robots into the controlling feedback loops: As they try to regulate internal hormone levels, they are forced to keep a homeostatic control of sensor values in a way that the desired goal 'obstacle avoidance' is achieved. Thus, the created behaviour is also a manifestation of the acts of homeostatic control. The controllers were evaluated using a stock-and-flow model that allowed sensitivity analysis and stability tests. Afterwards, we have also tested both controllers in a multi-agent simulation tool, which allowed us to predict the robots' behaviours in various habitats and group sizes. Finally, we demonstrate how this novel AHHS con

关键词： modular robotics stock-and-flow modelling hormone controller cybernetics homeostasis system dynamics

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Design and Kinematic Modeling of a Soft Continuum Telescopic Arm for the Self-Assembly Mechanism of a modular Robot

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SOFT robotics 2024年第2期11卷 347-360页

作者： Gomez, Virgilio Hernando, Miguel Aguado, Esther Bajo, Daniel Rossi, Claudio Univ Politecn Madrid Ctr Automat & Robot UPM CSIC Madrid Spain

In recent years, the development of mining robots has grown significantly, offering improved efficiency and safety in hazardous environments. However, there is still room for improvement in adaptability, scalability, and overall performance. The ROBOMINERS project, funded by the European Union's Horizon 2020 Research and Innovation Program, aims to facilitate Europe's access to mineral resources applying disruptive robotic concepts. One such concept is resilience, which can be achieved providing modular mining robots with the ability to reconfigure during operation. To address this challenge, this article presents the development and kinematic modeling of a soft, telescopic, continuum arm integrated into a modular robot. The arm serves as a mechanical interface for coupling different robotic modules or tools following the principle of the car crane. With a fully 3D-printed design, the arm features two sections of variable length that are driven by an innovative actuation method based on soft racks. It provides a 6 degrees of freedom (DoF) motion. The arm kinematic models are obtained by backbone parameterization assuming constant curvature and independent bending between sections for forward kinematics and applying a machine learning-based approach for inverse kinematics. The models are validated through the evaluation of two trajectories, measuring the deviation in each DoF and rack extension. Furthermore, a demonstration of the arm's coupling procedure between two robotic modules and one possible configuration of the robotic system showcases its functionality.

关键词： soft robotics modular robotics continuum robot machine learning artificial neural networks

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Dynamic analysis and distributed control of the tetrobot modular reconfigurable robotic system

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AUTONOMOUS ROBOTS 2001年第1期10卷 67-82页

作者： Lee, WH Sanderson, AC Rensselaer Polytech Inst Dept Mech Engn Aeronaut Engn & Mech Troy NY 12180 USA Rensselaer Polytech Inst Dept Elect Comp & Syst Engn Troy NY 12180 USA

Reconfigurable robotic systems can be adapted to different tasks or environments by reorganizing their mechanical configurations. Such systems have many redundant degrees of freedom in order to meet the combined demands of strength, rigidity, workspace kinematics, reconfigurability, and fault tolerance. In order to implement these new generations of robotic system, new approaches must be considered for design, analysis, and control. This paper presents an efficient distributed computational scheme which computes the kinematics, dynamics, redundancy resolution, and control inputs for real-time application to the control of the Tetrobot modular reconfigurable robots. The entire system is decomposed into subsystems based on a modular approach and Newton's equations of motion are derived and implemented using a recursive propagation algorithm. Two different dynamic resolution of redundancy schemes, the centralized Jacobian method and the distributed virtual force method, are proposed to optimize the actuating forces. Finally, distributed dynamic control algorithms provide an efficient modular implementation of the control architecture for a large family of configurations.

关键词： modular robotics reconfigurable parallel robotics dynamics redundancy resolution distributed control

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Dynamic rolling locomotion and control of modular robots

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 2002年第1期18卷 32-41页

作者： Lee, WH Sanderson, AC Rensselaer Polytech Inst Ctr Automat Technol Troy NY 12180 USA Rensselaer Polytech Inst Dept Elect Comp & Syst Engn Troy NY 12180 USA

Highly redundant modular robots may undergo large shape changes which significantly affect the geometry and dynamics of the robot. In these motions, the shape change may induce a tipping or rolling behavior of the robot. This paper describes the dynamic modeling, locomotion planning, control and simulation of such rolling motions for the Tetrobot modular robots. The motion is described by the path profiles of controlled nodes, the tipping criteria and dynamic tipping motion and an impact-reaction model of contact with the ground. These phases of motion are described using Newton-Euler dynamic equations and the principle of conservation of angular momentum. In this paper, a two-phase planning and switching control sequence is introduced to achieve stable and reliable motion of a Tetrobot modular robot. Simulation results illustrate the tipping behavior of a tetrahedron, the dynamic contact and rolling of an icosahedral Tetrobot and dynamic control of the rolling Tetrobot. The resulting models are useful to analyze and control both intentional rolling as a new mode of mobility as well as the avoidance of unintentional tipping and rolling during task execution.

关键词： distributed control dynamic rolling locomotion planning modular robotics reconfigurable parallel robotics tipping

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Active Connection Mechanism for Soft modular Robots

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ADVANCED robotics 2012年第7期26卷 785-798页

作者： Germann, Juerg Dommer, Michael Pericet-Camara, Ramon Floreano, Dario Ecole Polytech Fed Lausanne Lab Intelligent Syst CH-1015 Lausanne Switzerland

To date, most modular robotic systems lack flexibility when increasing the number of modules due to their hard building blocks and rigid connection mechanisms. In order to improve adaptation to environmental changes, softness at the module level might be beneficial. However, coping with softness requires a fundamental rethinking of the way modules are built. A major challenge is to develop a connection mechanism that does not limit the softness of the modules, does not require precise alignment and allows for easy detachment. In this paper, we propose a soft active connection mechanism based on electroadhesion. The mechanism uses electrostatic forces to connect modules. The method is easy to implement and can be integrated in a wide range of soft module types. Based on our experimental results, we conclude that the mechanism is suitable as a connection principle for lightweight modules when efficiency over a wide range of softness, tolerance to alignment and easy detachment are desired. The main contributions of this paper are (i) the qualitative comparison of different connector principles for soft modular robots, (ii) the integration of electroadhesion, featuring a novel electrode pattern design, into soft modules and (iii) the demonstration and characterization of the performance of functional soft module mockups including the connection mechanism. (C) Koninklijke Brill NV, Leiden and The robotics Society of Japan, 2012

关键词： Soft robotics modular robotics connectivity electroadhesion

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Hyperform specification: designing and interacting with self-reconfiguring materials

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PERSONAL AND UBIQUITOUS COMPUTING 2011年第2期15卷 133-149页

作者： Weller, Michael Philetus Gross, Mark D. Goldstein, Seth Copen Carnegie Mellon Univ Computat Design Lab Pittsburgh PA 15213 USA Carnegie Mellon Univ Dept Comp Sci Pittsburgh PA 15213 USA

We are on the verge of realizing a new class of material that need not be machined or molded in order to make things. Rather, the material forms and re-forms itself according to software programmed into its component elements. These self-reconfiguring materials are composed of robotic modules that coordinate with each other locally to produce global behaviors. These robotic materials can be used to realize a new class of artifact: a shape that can change over time, i.e., a four-dimensional shape or a hyperform. Hyperforms present several opportunities: objects such as furniture could exhibit dynamic behaviors, could respond to tangible and gestural input, and end-users could customize their form and behavior. To realize these opportunities, the tangible interaction community must begin to consider how we will create and interact with hyperforms. The behaviors that hyperforms can perform will be constrained by the capabilities of the self-reconfiguring materials they are made of. By considering how we will interact with hyperforms, we can inform the design of these systems. In this paper, we discuss the life cycle of a hyperform and the roles designers and end-users play in interacting with hyperforms at these various stages. We consider the interactions such a system could afford as well as how underlying hardware and software affect this interaction. And we consider the extent to which several current hardware systems, including our own prismatic cubes (Weller et al. in Intelligent Robots and Systems. IEEE, 2009), can support the hyperform interactions we envision.

关键词： modular robotics Tangible interaction Hyperforms Programmable matter

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A rapidly deployable manipulator system

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robotics AND AUTONOMOUS SYSTEMS 1997年第3期21卷 289-304页

作者： Paredis, CJJ Brown, HB Khosla, PK CARNEGIE MELLON UNIV INST ROBOT PITTSBURGH PA 15213 USA

A rapidly deployable manipulator system combines the flexibility of reconfigurable modular hardware with modular programming tools, allowing the user to rapidly create and program a manipulator, which is custom-tailored for a given task. This article describes the main building blocks of such a system: a reconfigurable modular manipulator system (RMMS), modular and reusable control software, and a novel agent-based approach to task-based design of modular manipulators.

关键词： modular robotics software assembly composable design system agent-based genetic algorithm

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RoboMusic with modular playware

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ARTIFICIAL LIFE AND robotics 2010年第4期15卷 369-375页

作者： Falkenberg, Kasper Baerendsen, Niels K. Nielsen, Jacob Jessen, Carsten Lund, Henrik Hautop Tech Univ Denmark Ctr Playware DK-2800 Lyngby Denmark

Based on the concepts of RoboMusic and modular playware, we developed a system composed of modular playware devices which allow any user to perform music in a simple, interactive manner. The key features exploited in the modular playware approach are modularity, flexibility, construction, immediate feedback to stimulate engagement, creative exploration of play activities, and in some cases activity design by end-users (e.g., DJs). We exemplify the approach with the development of 11 rock genres and 6 pop music pieces for modular I-BLOCKS, which are exhibited and in daily use at the Rock Me exhibition, and have been used at several international music events in Japan and the USA. A key finding is that professional music design is essential for the development of primitives in a musical behavior-based system, and this professional esthetics is necessary to engage the users in the activity of assembling and coordinating these "professional" musical primitives. This article describes, explores, and discusses this concept.

关键词： Playware modular robotics Music Behavior-based robotics

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Using a neural network to determine fitness in genetic design

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INVERSE PROBLEMS IN SCIENCE AND ENGINEERING 2004年第6期12卷 629-642页

作者： Zhang, J Farritor, S Univ Nebraska Dept Mech Engn Lincoln NE 68588 USA

Many automated design approaches require an objective function to determine the quality of a given design. Often, this function is a complex relationship between many parameters that are subjective, and their relationships are difficult to quantify. This article presents a neural network based method to solve the inverse problem of determining the designer's preferences. In the forward problem, the designer would define relative preferences and the relationship between performance attributes for a given design task. The quality of a design could then be evaluated based on these preferences. The inverse problem seeks to quantify the designer's preferences and the relationships between those preferences based on evaluations of a few candidate designs. Generally, a human designer might propose candidate designs, the designer would then rank or rate the quality of the candidate designs, and then the candidate designs are used to solve the inverse problem by training a neural network fitness function. This fitness function can then be used to evaluate and create new designs that the human designer might not conceive. This article demonstrates the approach through the design of modular robots for planetary exploration.

关键词： design preferences genetic design planetary robotics modular robotics

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