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The internet of modular robotic things: Issues, limitations, challenges, & solutions

INTERNET OF THINGS 2023年 23卷

作者： Yaacoub, Jean-Paul A. Noura, Hassan N. Piranda, Benoit Univ Franche Comte UFC FEMTO ST Inst CNRS Belfort France

The world is becoming more digitised with the rise of modular robotic systems. Therefore, with the increasing demands and needs for robotics, the modular robotic domain was introduced as an essential key part of Internet-of-Things (IoT). modular self-configurable robotic systems (E.g. swarms) are classed as "smart"autonomous machines with kinematic properties, defined by a set of interconnected links, modules and algorithms to achieve the required three-dimensional (3D) or two-dimensional (2D) complex shape or hierarchical structure. Due to its "intelligent'' concept, it beame suitable for its deployment in the Internet of Robotic Things (IoRT) domain. Thus, becoming a key part of it and establishing itself as the newly revolutionised Internet of modular Robotic Things (IoMRT). This paper presents a survey that highlights and discusses this novel IoMRT concept that focuses on self-reconfigurable modular robots and robotic systems by discussing their criteria, characteristics, architecture, and design. The security, safety, and privacy aspects are also presented and discussed, making it among the first papers to focus on this topic and its future. Moreover, the main drawbacks and challenges are also highlighted, while the already available solutions are also presented and analysed. A brief analysis regarding each solution is also presented with an insight into their future work. Additionally, more work was presented regarding the security aspect(s) of modular robotic systems to protect them from possible cyber or/and physical attacks. Thus, covering all possible aspects of the IoMRT.

关键词： modular robotics modular self-reconfigurable robotics Soft robotics self -reconfiguration Swarmanoids IoT security IoMRT Swarm robotics modular autonomous warfare Counter -terrorism

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Reliable External Actuation for Full Reachability in Robotic modular self-reconfiguration

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2010年第5期29卷 598-612页

作者： White, P. J. Yim, M. Univ Penn Dept Mech Engn & Appl Mech Philadelphia PA 19104 USA

External actuation in self-reconfigurable modular robots promises to allow modules to shrink down in size. Synchronous external motions promise to allow fast convergence and assembly times. XBot is a modular system that uses synchronous external actuation, but has a limited range of reachable configurations stemming from a single motion primitive of a module rotating about another. This paper proposes to extend the motion primitives by using moves with two modules swinging in a dynamic chain. The feasibility of these motion primitives is proven experimentally. A parameterization of the external actuation motion profiles is explored to define a space of physically valid motion profiles. The larger the space, the more robust the motion primitives will be to inexact initial conditions and to imprecision in the external actuation mechanisms. In addition, this paper proves that a configuration of XBot meta-modules can reach any configuration using just these motion primitives.

关键词： modular self-reconfigurable robotics external actuation

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Reliable External Actuation for Full Reachability in Robotic modular self-reconfiguration

Reliable External Actuation for Full Reachability in Robotic...

引用

11th International Symposium on Experimental robotics (ISER)

作者： White, P. J. Yim, M. Univ Penn Dept Mech Engn & Appl Mech Philadelphia PA 19104 USA

关键词： modular self-reconfigurable robotics external actuation

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Stochastic self-reconfigurable cellular robotics

Stochastic self-reconfigurable cellular robotics

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IEEE International Conference on robotics and Automation

作者： White, PJ Kopanski, K Lipson, H Cornell Univ Dept Mech & Aerosp Engn Computat Synth Lab Ithaca NY 14853 USA

ISBN: (纸本)0780382323

Current implementations of self-reconfigurable robotics rearrange modules through a planned, deterministic reconfiguration path. Reconfiguration is achieved using active module locomotion or manipulation. Here we propose a form of self-reconfigurable robotics based on passive, stochastic self-organization. Solid-state cellular units exploit 'Brownian motion' in their environment and require no local power or locomotion ability. This form of reconfiguration avoids many of the barriers that prevent self-reconfigurable robotics from extending to large numbers and small scales. We demonstrate working prototypes and discuss preliminary analytical and computational models for analyzing the scalability of this concept.

关键词： modular self-reconfigurable robotics self-assembly

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