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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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Morphology Extension Kit: A modular Robotic Platform for Physically Reconfigurable Wearables 18

Morphology Extension Kit: A Modular Robotic Platform for Phy...

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12th International Conference on Tangible, Embedded, and Embodied Interaction (TEI)

作者： Leigh, Sang-won Denton, Timothy Parekh, Kush Peebles, William Johnson, Magnus Maes, Pattie MIT Media Lab Cambridge MA 02139 USA Rhode Isl Sch Design Providence RI 02903 USA

ISBN: (纸本)9781450355681

Various forms of wearable robotics challenge the notion of the human body, in that the robots render the acquired capabilities in physical forms. However, majority of such systems are designed for specific purposes, where rapidly changing environments pose a diverse set of problems that are difficult to solve with a single interface. To address this, we propose a modular hardware platform that allows its users or designers to build and customize wearable robots. The process of building an augmentation is simply to connect actuator and sensor blocks and attach them to the body. The current list of designed components includes servomotor modules and sensor modules, that can be programmed to incorporate additional electronics for desired sensing capabilities. Our electrical and mechanical connector designs can be extended to utilize any motors within afforded power, size, and weight constraints. We also show how our platform can be used in various applications, in addition to how the proposed design can be extended as well as challenges for future systems.

关键词： Synergistic Interaction Hardware Platform modular robotics

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The robotics bus: A local communications bus for robots

The robotics bus: A local communications bus for robots

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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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modular Robotic Arm for Teaching Braille to Children with Normal Visual Acuity

Modular Robotic Arm for Teaching Braille to Children with No...

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IEEE Colombian Conference on Applications of Computational Intelligence (ColCACI)

作者： Puentes, Santiago S. G. Moreno, Maria C. Daniel Sarmiento, Brayan Suarez, Oscar J. Univ Pamplona Mechatron Engn Dept Pamplona Spain

ISBN: (纸本)9798350316599

This paper introduces the design and development of a modular robotic arm with four degrees of freedom (DoF) intended for implementation in educational environments as an interactive robotics tool for teaching the Braille system. This project arose from the need for inclusive and accessible education, using robotics to bring Braille to a broader audience and encourage collaborative learning. Integrating direct and inverse kinematics, as well as dynamics and a cubic spline interpolator, ensures accurate and efficient movements. Additionally, a neural network model was developed and trained to calculate the kinematic inverse of the robotic arm, demonstrating a high level of accuracy and reliability in solving the kinematic inverse problem. The last link is modular, which allows switching between a writing tool to teach the Braille alphabet to people with normal visual acuity, a gripper, and a holding mechanism that will allow didactically placing different pieces to form any letter of the alphabet in Braille, as well as other classroom uses.

关键词： modular robotics Inclusive robotics Deep Learning Educational Environments Braille

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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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Self-Assembling modular Robotic Training Using Concurrent Dual Reinforcement Learning 18

Self-Assembling Modular Robotic Training Using Concurrent Du...

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18th Annual IEEE International Systems Conference (SysCon)

作者： O'Fallon, John M. Megherbi, Dalia Univ Massachusetts Lowell Dept Elect & Comp Engn CMINDS Res Ctr Lowell MA 01854 USA

ISBN: (纸本)9798350358810;9798350358803

Mobile robots operating in harsh and inaccessible environments, such as space, the battlefield, or disaster scenarios, can be limited by an inability to adapt to unforeseen challenges, damage, or component failure. modular, self-assembling robots composed of many homogenous robotic modules, which together form a single robot, is one method of alleviating this limitation. A robot composed of these modules has inherent redundancy, as each module can contain all necessary elements for operation, and as each module is identical, a module failure can be corrected by the remaining modules by collectively and autonomously replacing the failed module with a spare working module. Coordinating the movement, actions, and communications between multiple, potentially thousands, of modules remains an ongoing research challenge. With the objective of alleviating some of these challenges, in this paper we propose reinforcement learning as a viable method of developing algorithms for this robotic modular coordination. Here, we propose and present a platform of magnetically connected, hexagonal disk modules, which are not capable of independent operation, but collectively are capable of movement and other actions through multiple successive self-reconfigurations. We then propose a dual concurrent reinforcement learning algorithm that demonstrates these modules can learn to successfully self-reconfigure for movement while concurrently learning to navigate through an environment, searching for a goal.

关键词： Swarm Robot Machine Learning Reinforcement Learning Self-Assembling modular robotics

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Evolutionary synthesis of dynamic motion and reconfiguration process for a modular robot M-TRAN

Evolutionary synthesis of dynamic motion and reconfiguration...

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IEEE International Symposium on Computational Intelligence in robotics and Automation

作者： Yoshida, E Murata, S Kamimura, A Tomita, K Kurokawa, H Kokaji, S AIST Intelligent Syst Inst Tsukuba Ibaraki 3058564 Japan

ISBN: (纸本)0780378660

In this paper we present a couple of evolutionary motion generation methods using genetic algorithms (GA) for self-reconfigurable modular robot M-TRAN and demonstrate their effectiveness through hardware experiments. Using these methods, feasible solutions with sufficient performance can be derived for a motion generation problem with high complexity coming from huge configuration and motion possibilities of the robot. The first method called ERSS (Evolutionary Reconfiguration Sequence Synthesis) applies GA (Genetic Algorithm) to evolution of motion sequence including configuration changes though natural genetic representation. The effectiveness of the generated full-body dynamic motions are verified through hardware experiments. The second method called ALPG (Automatic Locomotion Pattern Generation) Method seeks locomotion pattern using a neural oscillator as a CPG (Central Pattern Generator) model and GA to optimize the parameters for locomotion. A number of efficient locomotion patterns has been derived, which are also experimentally verified.

关键词： modular robotics self-reconfiguration evolutionary computation motion generation genetic algorithms CPG

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OPTIMIZATION OF MOTION PRIMITIVES FOR HIGH-LEVEL MOTION PLANNING OF modular ROBOTS 17th

OPTIMIZATION OF MOTION PRIMITIVES FOR HIGH-LEVEL MOTION PLAN...

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17th International Conference on Climbing and Walking Robots (CLAWAR)

作者： Vonasek, Vojtech Penc, Ondrej Kosnar, Karel Preucil, Libor Czech Tech Univ Fac Elect Engn Prague 16627 Czech Republic Czech Tech Univ Fac Nucl Sci & Phys Eng Prague 11519 Czech Republic

ISBN: (纸本)9789814623346

modular robots are highly flexible systems that are able to reconfigure to various shapes and to perform diverse locomotions. To visit a desired place in a complex environment, a robot can be equipped with several motion primitives that are switched using a high-level motion planning. The utilization of the high-level motion planning allows to simplify the motion primitives, which only need to provide short motions in a vicinity of the robot. This paper investigates how to automatically optimize these motion primitives of modular robots using an evolutionary approach. The proposed optimization is experimentally verified in simulated scenarios and in experiments with real robots.

关键词： modular robotics motion planning particle swarm optimization

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

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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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modular Field Robots for Extraterrestrial Exploration

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Advances in Astronautics Science and Technology 2020年第1期3卷 37-47页

作者： Cordie, Troy Steindl, Ryan Dungavell, Ross Bandyopadhyay, Tirthankar The Robotics and Autonomous Systems Group CSIRO 1 Technology Ct Pullenvale 4069 QLD Australia The Robotics and Autonomous Systems Group Queensland University of Technology 2 George St Brisbane 4000 QLD Australia

modular design methodology enables rapid reconfigurability for functional changes, robustness to failures and space utilisation for transportation. In the case of planetary exploration robots, there is promise in modular robots that are able to reconfigure themselves for exploration of unknown terrains. This paper presents a design and controller architecture for modular field robots that can be rapidly assembled in a variety of functional configurations. A key challenge of building a functional robot out of modular units is the ability to seamlessly add, remove and replace individual units to enable functional improvements as well as adapt to terrain requirements. We present a representative modular wheel design and a distributed controller architecture able to create a range of bespoke multi-wheeled configurations capable of traversal on a variety of terrains during simulated failure scenarios. The self-contained wheeled unit has energy, computation communication, and actuation modules and does not require any modification or physical customization in the field during deployment enabling a seamless plug and play behaviour. The hierarchical control structure runs a body controller node that decomposes a whole body motion requested from a higher level planner to generate a sequence of actuation goals for each of the modules, while a local controller node running on each of the modules ensures that the desired actuation is adapted to the configuration, load and terrain characteristics. © 2020, Chinese Society of Astronautics.

关键词： Graceful degradation Mobile robots modular robotics Robot motion Uncrewed autonomous vehicles

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