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检索条件"主题词=Modular robotics"

共 115 条记录，以下是71-80 订阅

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Self-Assembly of modular Robots from Finite Number of Modules Using Graph Grammars

Self-Assembly of Modular Robots from Finite Number of Module...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Rai, Vijeth van Rossum, Anne Correll, Nikolaus CU Boulder Almaden Res Boulder CO USA Tilburg Univ Almaden Res Tilburg Netherlands CU Boulder Boulder CO 80309 USA

ISBN: (纸本)9781612844558

We wish to design decentralized algorithms for self-assembly of robotic modules that have 100% yield even if the number of available building blocks is limited, and specifically when the number of available building blocks is identical to the number of blocks required by the structure. In contrast to self-assembly at the nano and micro scales where abundant building blocks are available, modular robotic systems need to self-assemble from a limited number of modules. In particular, when self-assembly is used for reconfiguration, it is desirable that the new conformation includes all of the available modules. We propose a suite of algorithms that (1) generate a reversible graph grammar, i.e., generates rules for a desired structure that allow the structure not only to assemble, but also to disassemble, and (2) have a set of structures that are growing in parallel converge to a single structure using broadcast communication. We show that by omitting a reversal rule for the last attached module, self-assembly eventually completes, and that communication can drastically speed up this process.

关键词： self-assembly graph-grammar modular robotics

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Self-reconfigurable modular Robots and Their Symbolic Configuration Space

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16th Monterey Workshop

作者： Baarir, Souheib Hillah, Lom-Messan Kordon, Fabrice Renault, Etienne CNRS LIP6 UMR 7606 200 Ave Republ F-92001 Nanterre France Univ Paris Ouest Nanterre La Def F-92001 Nanterre France Univ Paris 06 LIP6 CNRS UMR 7606 F-75252 Paris 05 France

ISBN: (纸本)9783642212925

modular and self-reconfigurable robots are a powerful way to design versatile systems that can adapt themselves to different physical environment conditions. Self-reconfiguration is not an easy task since there are numerous possibilities of module organization. Moreover, some module organizations are equivalent one to another. In this paper, we apply symbolic representation techniques from model checking to provide an optimized representation of all configurations for a modular robot. The proposed approach captures symmetries of the system and avoids storing all the equivalences generated by permuting modules, for a given configuration. From this representation, we can generate a compact symbolic configuration space and use it to efficiently compute the moves required for self-reconfiguration (i.e. going from one configuration to another). A prototype implementation is used to provide some benchmarks showing promising results.

关键词： modular robotics Self-reconfiguration Symbolic configuration space Symmetries CKBot

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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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Voxelcopter: modular Autonomous Aerial Systems 8

Voxelcopter: Modular Autonomous Aerial Systems

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8th ACM Symposium on Computational Fabrication (SCF)

作者： Wang, Sophia Smith, Miana Gershenfeld, Neil MIT Ctr Bits & Atoms Cambridge MA 02139 USA

ISBN: (纸本)9798400703195

Different unmanned aerial system (UAS) applications, such as military reconnaissance, environmental monitoring, or commercial delivery, require different specifications such as payload weight and travel range, which typically require completely different designs. This means that it is difficult, if not impossible, to easily reconfigure an existing UAS for a new application without the redesign and reconstruction of the system. To facilitate easy reconfiguration of UAS, we present Voxelcopter, a modular construction kit for the rapid-prototyping and rapid assembly of multicopter UAS. We develop basic viable components for flight, including reconfigurable building blocks, termed functional voxels, that assemble into high-stiffness, lightweight structures with integrated power and data, a custom flight controller software library, propellers, and power storage. In this demo, a quadcopter is assembled, and we flight test the resulting vehicle, then disassemble it into components ready for reuse, demonstrating the easy reconfigurability of the system.

关键词： UAS applications modular robotics assembly rapid-prototyping

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Design and Control Architecture of a 3D Printed modular Snake Robot

Design and Control Architecture of a 3D Printed Modular Snak...

引用

World Automation Congress (WAC)

作者： Mohammed, Ikram Hussain Gallardo, Nicolas Benavidez, Patrick Jamshidi, Mo Champion, Benjamin Univ Texas San Antonio Dept Elect & Comp Engn One UTSA Circle San Antonio TX 78249 USA Deakin Univ Sch Engn Waurn Ponds Vic Australia

ISBN: (纸本)9781889335513

In this paper the design and construction of a 3D printed snake robot is presented. This snake robot has been designed to be able to complete a wide variety of tasks and motions that other snake robots are currently able to preform, such as serpentine motion, rolling and the ability to climb some objects. An approach is also investigated which allows the snake robot to be attached to the end of a serial manipulator robot to increase its available degrees of freedom. A modular design has been focused on, allowing for the fast and low cost generation and implementation of the robotic snake.

关键词： snake robot modular robotics robot Dynamixel servos 3D printing

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Method for Robot to Create New Function by Uniting with Surrounding Objects 15th

Method for Robot to Create New Function by Uniting with Surr...

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15th International Conference on Intelligent Autonomous Systems (IAS)

作者： Morooka, Yukio Mizuuchi, Ikuo Tokyo Univ Agr & Technol Tokyo Japan

ISBN: (纸本)9783030013707;9783030013691

In this paper, we propose a robot that creates new functions by uniting with other objects. Such a robot can be applied to various situations by creating functions that fit to the situations. In this paper, we describe the elements of the proposed robot and development of two types of prototypes. The first prototype has an uniting function by gripping objects, and we conducted a demonstration of creating an automatic angle adjustment function on a projector using this prototype. The second prototype has an uniting function by using electromagnets and we conducted demonstrations of creating a function to handle object on a high place and creating automatic open and close functions for a door using this prototype.

关键词： Function creation Uniting modular robotics Multipurpose robot

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Challenges in Automated Commercial Aircraft Production 14th

Challenges in Automated Commercial Aircraft Production

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14th IFAC Workshop on Intelligent Manufacturing Systems (IMS)

作者： Gehlhoff, Felix Nabizada, Hamied Weigand, Maximilian Beers, Lasse Ismail, Omar Wenzel, Alexander Fay, Alexander Nyhuis, Peter lagutin, Wladislav Roehrig, Martin Univ Fed Armed Forces Helmut Schmidt Univ Inst Automat Technol Hamburg Germany Leibniz Univ Hannover Inst Prod Syst & Logist IFA Hannover Germany Airbus Operat GmbH Hamburg Germany

Civil Aircraft development and production are facing significant challenges in future. On the one hand, the flight-path to carbon neutral aviation, like using liquid hydrogen, will require game changing technologies. Simultaneously, competition, especially on the single aisle market, is evolving fast and puts pressure on market shares and margins. The necessity of an adaptable and highly efficient production becomes more evident than ever. One contribution to achieve this goal is the research project "Intelligent modular robotics and Integrated Production System Design for Aircraft Manufacturing" (iMOD). Namely, it will analyze challenges regarding (1) an integrated and Digital Twin-based system design approach, (2) flexible and modular robotics to support workers with unergonomic tasks and (3) a flexible intralogistics based on Automated Guided Vehicles (AGVs). Those three aspects will be integrated into an approach that uses semantic technologies to connect the different components across different levels of functionality and different life cycle phases. Copyright (c) 2022 The *** is an access article under the CC BY-NC-ND license(http://***/license/by-nc-nd/4.0/).

关键词： Aircraft Production Automated Guided Vehicles Digital Twin Model-Based Systems Engineering modular robotics Production Design

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Networked robotics

Networked robotics

引用

Conference on Sensor Fusion and Decentralized Control in Robotic Systems III

作者： McKee, GT Schenker, PS Univ Reading Dept Comp Sci Reading Berks England

ISBN: (纸本)0819438618

In this paper we present the concept of networked robotics. The networked robotics concept develops the viewpoint that robotics systems are collections of resources that are resident at identified locations on a network and, by means of an appropriate configuration process, can be connected together into a system that can perform some desired robotic task. Under this scheme a physical robot platform, a mobile robot for example, is modeled as a set of resources and a set of such platforms contributes their resources to a resource pool. Configuration patterns define the way in which these resources are configured to create a distributed architecture, which may span more than one physical robot platform. The emphasis on distributed, configurable resources makes the concept of networked robotics particularly relevant to the areas of modular and cooperative robotics. In this paper we identify the scope of networked robotics and the key research issues it raises, including the definition of resources, their configuration into control architectures and the relation of these configuration patterns to task models. We consider the relevance of networked robotics to other areas of robotics, in particular modular and cooperative robotics, and we explore technologies and tools that might support the networked robotics concept in practice.

关键词： networked robotics robot architecture modular robotics cooperative robotics

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Survey of modular Robots and Developed Embedded Devices for Constructive and Computing Components 1

引用

2nd International Conference on Interactive Collaborative robotics (ICR)

作者： Dashevskiy, Vladimir Budkov, Viktor Ronzhin, Andrey SPIIRAS 3914th Line St Petersburg 199178 Russia

ISBN: (数字)9783319664712

ISBN: (纸本)9783319664712;9783319664705

The specificity of modular robotics is the ability to connect individual robots to reconfigurable complexes with space structures. Approaches suitable for reconfiguring a swarm of modular robots were analyzed during the preparation of the survey. The analysis of projects on modular robotics in the publications of the last ten years has also revealed the prospects of attracting cloud robotics techniques for distributed sensory data collection, management and centralized training using stationary computing resources. The developed embedded devices for sensor data processing and control of servos of modular robots are described.

关键词： modular robotics Embedded devices Servos SMARC Swarm robotics Cloud robotics

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The robotics bus: A local communications bus for robots

The robotics bus: A local communications bus for robots

引用

Conference on Mobile Robots XVII

作者： Gomez-Ibanez, D Stump, E Grocholsky, B Kumar, V Taylor, CJ Univ Penn GRASP Lab Philadelphia PA 19104 USA

ISBN: (纸本)0819455628

We address the development of a local bus architecture for robot Systems that facilitates modular development, and increases the reliability of systems composed of heterogeneous sensors and actuators. The communications bus is based on Control Area Network (CAN), and supports distributed processing in physically separate nodes. modular cabling and a modular software interface facilitate assembly and modification, and all bus communication is browseable for configuration and troubleshooting. We demonstrate two implementations of this system, and discuss its performance and capabilities compared to alternate communication architectures, with specific emphasis on mobile robots.

关键词： modular robotics reliability controller area network serial bus browser

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