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 ...
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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.
Long-term physical survivability of most robotic systems today is achieved through durable hardware. In contrast, most biological systems are not made of robust materials;long-term sustainability and evolutionary adap...
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Long-term physical survivability of most robotic systems today is achieved through durable hardware. In contrast, most biological systems are not made of robust materials;long-term sustainability and evolutionary adaptation in nature are provided through processes of self-repair and, ultimately, self-reproduction. Here we demonstrate a large space of possible robots capable of autonomous self-reproduction. These robots are composed of actuated modules equipped with electromagnets to selectively control the morphology of the robotic assembly. We show a variety of 2-D and 3-D machines from 3 to 2n modules, and two physical implementations that each achieves two generations of reproduction. We show both automatically generated and manually designed morphologies.
This study aims at providing a control-learning framework capable of generating optimal locomotion patterns for the modular robots. The key ideas are firstly to provide a generic control structure that can be well-ada...
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This study aims at providing a control-learning framework capable of generating optimal locomotion patterns for the modular robots. The key ideas are firstly to provide a generic control structure that can be well-adapted for the different morphologies and secondly to exploit and coevolve both morphology and control aspects. A generic framework combining robot morphology, control and environment and on the top of them optimization and evolutionary algorithms are presented. The details of the components and some of the preliminary results are discussed. (C) Selection and peer-review under responsibility of FET11 conference organizers and published by Elsevier B.V.
The research explores examining future trends in robotics and how they can be applied to spatial interactive architectural environments. The strategy of using modular robotics of architectural space-making demonstrate...
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ISBN:
(纸本)9783642216190
The research explores examining future trends in robotics and how they can be applied to spatial interactive architectural environments. The strategy of using modular robotics of architectural space-making demonstrates an architecture whereby adaptation becomes much more holistic and operates at a very small scale. The strategy of using self replicating strategies as a catalyst for autonomous architectural construction was very much driven by the premise of an advanced architectural design studio. This paper highlights conceptual contributions by architecture students for alternative means of Martian Colonization through means creating architecture that creates itself. The parameters of the design project had three primary considerations including: The actual trajectory issues (how to get materials to the Mars), Chemical Processing (how to make materials on the Mars) and Space Manufacturing (how to fabricate and assemble/construct things on Mars). Of these central issues explored in this studio, the focus was primarily on Manufacturing as a process carried out by small modular robotics. The premise of the approach is that rather than sending a constructed architecture to space, we send tiny robotic modules that are capable of mobility and reproduction through automated fabrication techniques using in-situ materials. The modules with embedded sensors, self-healing composites, and responsive materials were designed to construct buildings aimed at adaptation. Such buildings could potentially respond in a humanlike way to counteract loads, reduce material and allow for active environmental adaptation. When enough of architecture of the colony has constructed itself - we send humans to inhabit it. Several examples by architecture students are highlighted whereby individual modules were created within the context of a space architecture design studio and applied to scenarios of space making at various scales. The design context primarily focused on the master plan of a co
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 nu...
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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.
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 b...
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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.
This study aims at providing a control-learning framework capable of generating optimal locomotion patterns for the modular robots. The key ideas are firstly to provide a generic control structure that can be well-ada...
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This study aims at providing a control-learning framework capable of generating optimal locomotion patterns for the modular robots. The key ideas are firstly to provide a generic control structure that can be well-adapted for the different morphologies and secondly to exploit and coevolve both morphology and control aspects. A generic framework combining robot morphology, control and environment and on the top of them optimization and evolutionary algorithms are presented. The details of the components and some of the preliminary results are discussed.
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 e...
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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.
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 ...
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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.
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