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Configuration analysis of a chain-type reconfigurable modular robot inspired by normal alkane

Science China(Technological Sciences) 2021年第6期64卷 1167-1176页

作者： FENG JingKai LIU JinGuo State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

Normal alkane is an unbranched alkane whose structural formula is H–CH2–CH2–…–CH2–…–CH2–H,which can be regarded as a reconfigurable chain-type structure composed of–CH2–*** by normal alkane,a normal-alkane-like reconfigurable modular robot (NAR) is *** module consists of two differential gear trains mounted *** differential gear train contains two input degrees of freedom and two output degrees of *** to the genderless interface design,multiple modules can be assembled into chain-type *** the genderless interfaces and flexible degrees of freedom,NAR can be reconfigured into different dimensions of spatial *** bond matrix is used to describe the configuration,which represents the bond attitude of the adjacent connected *** addition,full interconnected geometric feature (FIGF) algorithm is proposed for non-isomorphic configuration enumeration and *** configurations with three modules are simulated and the results verify the feasibility of the ***,a prototype with three modules is fabricated and the configuration motion sequence is demonstrated.

关键词： reconfigurable modular robot chain-type normal alkane configuration enumeration non-isomorphic configuration

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Enumeration of the non-isomorphic configurations for a reconfigurable modular robot with square-cubic-cell modules

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INTERNATIONAL JOURNAL OF ADVANCED robotIC SYSTEMS 2010年第4期7卷 58-68页

作者： Liu, Jinguo Wang, Yuechao Ma, Shugen Li, Yangmin Chinese Acad Sci State Key Lab Robot Shenyang Inst Automat Shenayng Peoples R China Ritsumeikan Univ Dept Robot Kyoto Shiga Japan Univ Macau Dept Electromech Engn Fac Sci & Technol Taipa Peoples R China

Configuration of a reconfigurable modular system is a tough issue because the possible configurations or structures grow exponentially with the number of modules. A library of the non-isomorphic configurations should be set up as a database for configuration design and control. In this paper, we propose a matrix-based enumerating approach for the non-isomorphic configurations of a reconfigurable modular robot system with square-cubic-cell(SCC) modules. Each SCC module considered in this study includes a cubic module body and four connectors on its lateral surfaces. Since it has a square lattice like 2D projection, configuration matrices are proposed to represent the topological information of the modular robot. Thus reconfiguration and enumeration can be programmed by matrix computation in simulation. According to combinational principle, recursive algorithms are used to find out all non-isomorphic configurations. Enumerating result for a multi-module SCC system is provided as an example. Potential applications of this approach to other reconfigurable systems with lattice-form or cubic-form modules are discussed as well. As an application, enumeration of the multi-module CONRO robot also proves the validity of this method.

关键词： reconfigurable modular robot non-isomorphic configuration lattice cubic configuration matrix 2D projection

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Decentralized Force/Position Control for reconfigurable modular robot based on the Nonlinear Joint Torque Observer 14

Decentralized Force/Position Control for Reconfigurable modu...

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IEEE International Conference on Mechatronics and Automation (ICMA)

作者： Zhang, Wei Du, Yanli BeiHua Univ Coll Elect Informat Engn Jilin 132021 Jilin Peoples R China

ISBN: (纸本)9781509067596

A double closed-loop decentralized force controller based on the nonlinear joint torque observer was designed to solve the problem that the end-effector of the reconfigurable modular robot had wrist force sensor but joints had not in the constrained space. The modeling uncertainties and coupling interconnection terms between the joint subsystems were approximated by using adaptive fuzzy system. The double closed-loop regulation of the control input for the reconfigurable modular robot subsystems was constituted by means of contact force error and the error between the joint torque and the observer. Compared with the single closed-loop control, the proposed method improves the convergence speed and tracking accuracy of the end contact force. Finally, the simulation results according to different configurations of the reconfigurable modular robot show the effectiveness of the proposed method.

关键词： reconfigurable modular robot decentralized force/position control nonlinear joint torque observer double closed-loop

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Illumination Adaptive Identification Algorithm of a reconfigurable modular robot

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Instrumentation 2024年第1期11卷 79-87页

作者： Fangyi Xing Cheng Xu Yanming Wu Hongwei Gao School of Automation and Electrical Engineering Shenyang Ligong UniversityShenyang 110158 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 School of Instrument Science and Engineering Southeast UniversityNanjing 210096 School of Automation Shenyang Aerospace UniversityShenyang 110135

reconfigurable modular robots feature high mobility due to their unconstrained connection *** by the snake multi-joint crawling principle,a chain-type reconfigurable modular robot(CRMR)is designed,which could reassemble into various configurations through the compound joint ***,an illumination adaptive modular robot identification(IAMRI)algorithm is proposed for *** first,an adaptive threshold is applied to detect oriented FAST features in the robot ***,the effective detection of features in non-uniform illumination areas is achieved through an optimized quadtree decomposition *** matching features,an improved random sample consensus algorithm is employed to eliminate the mismatched ***,the reconfigurable robot module is identified effectively through the perspective *** with ORB,MA,Y-ORB,and S-ORB algorithms,the IAMRI algorithm has an improvement of over 11.6%in feature uniformity,and 13.7%in the comprehensive indicator,*** IAMRI algorithm limits the relative error within 2.5 pixels,efficiently completing the CRMR identification under complex environmental changes.

关键词： reconfigurable modular robot visual identification feature detection feature matching

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Research on the fault diagnosis method of the reconfigurable modular robot based on second-order sliding mode observer

Research on the fault diagnosis method of the reconfigurable...

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5th International Conference on Mechanical, Industrial, and Manufacturing Technologies (MIMT)

作者： Wu, Liang Li, Yuanchun Changchun Univ Technol Dept Control Engn Changchun 130012 Peoples R China

ISBN: (纸本)9783038350552

This paper was concerned with the fault diagnosis method based on the second-order sliding mode observer (SOSMO) for reconfigurable modular robot systems with joint friction. The residual signal between given threshold and output of the SOSMO are utilized to directly and effectively detect the fault of reconfigurable modular robot. The stability of the SOSMO is proved by using Lyapunov stability theory. In order to demonstrate the effectiveness of the proposed method, two different 2-DOF reconfigurable modular robots are employed for simulation.

关键词： reconfigurable modular robot actuator fault second-order sliding mode observer fault diagnosis

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Multi-objective Configuration Optimization of Assembly-level reconfigurable modular robots

Multi-objective Configuration Optimization of Assembly-level...

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IEEE International Conference on Information and Automation (ICIA)

作者： Wu, Wenqiang Guan, Yisheng Yang, Yufeng Dong, Biyun Guangzhou Univ Sch Mech & Elect Engn Guangzhou Guangdong Peoples R China Guangdong Univ Technol Sch Mech & Elect Engn Guangzhou Guangdong Peoples R China Foshan Biowin Robot & Automat Co Ltd Foshan Guangdong Peoples R China Foshan Polytech Foshan Guangdong Peoples R China

ISBN: (纸本)9781509041022

Consisting of a collection of modules with the same connection interfaces, a reconfigurable modular robot can be assembled into different configurations to meet different task requirements. The configuration optimization of modular robot is formulated as an optimal design process that is selecting sets of modules and assembling them together to get optimal configurations. To solve the problem of configuration design, this paper presents a multi-objective optimization method for assembly-level modular robots which can bring us more convince to present the modular robots. An automatic generation method of the configuration from an assembly model is presented. With the assembly as the design variable, a multi-objective optimization model of configuration optimization is founded to search for the optimal solutions. Based on our modular robot system, an example is provided to verify the effectiveness of this approach.

关键词： reconfigurable modular robot configuration optimization multi-objective NSGA-II

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ANALYSIS OF TIPOVER STABILITY FOR NOVEL SHAPE SHIFTING modular robot

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Chinese Journal of Mechanical Engineering 2006年第2期19卷 181-186页

作者： LIU Jinguo WANG Yuechao MA Shugen LI Bin Robotics Laboratory Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110016 China Department of Systems Engineering Ibaraki UniversityIbaraki 316-8511 Japan Robotics Laboratory Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 China

A novel three-module robot has been introduced. It can change its configuration to adapt to the uneven terrain and to improve its tipover stability. This three-module tracked robot has three kinds of symmetry configuration. They are line type, triangle type, and row type. After the factors and the countermeasures of mobile robot＇s tipover problem are analyzed, stability pyramid and tipover stabil-ity index are proposed to globally determinate the mobile robot＇s static stability and dynamic stability. The shape shifting robot is tested by this technique under the combined disturbance of pitch, roll and yaw in simulation. The simulation result shows that this technique is effective for the analysis of mobile robot＇s tipover stability, especially for the reconfigurable or shape shifting modular robot. Experiments on three symmetry configurations are made under unstructured environments. The environment experiment shows the same result as that of the simulation that the triangle type configuration has the best stability. Both simulation and experiment provide a valid reference for the reconfigurable robot＇s potential application.

关键词： reconfigurable modular robot Shape shifting robot Stability pyramid Tipover stability index Unstructured environment

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Autonomous Distributed System for Gait Generation for Single-Legged modular robots Connected in Various Configurations

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IEEE TRANSACTIONS ON robotICS 2020年第5期36卷 1491-1510页

作者： Hayakawa, Tomohiro Kamimura, Tomoya Kaji, Shizuo Matsuno, Fumitoshi Kyoto Univ Grad Sch Engn Dept Mech Engn & Sci Kyoto 6158540 Japan Nagoya Inst Technol Dept Elect & Mech Engn Nagoya Aichi 4668555 Japan Kyushu Univ Inst Math Ind Fukuoka 8190395 Japan Japan Sci & Technol Agcy Precursory Res Embryon Sci & Technol Program Tokyo 1020076 Japan

To date, many gait generation strategies have been designed for robots with leg configurations that model those of natural creatures. However, their leg configurations are limited to the $2\times N$ type, such as hexapod or myriapod;hence, simultaneously, the potential ability of legged robots is implicitly limited. We consider single-legged modular robots that can be arranged to form a cluster with arbitrary 2-D leg configurations. By choosing configurations appropriately, these robots have the potential to perform several types of tasks, as is the case for reconfigurable modular robots. However, to use appropriate configurations for a given task, a unified gait generation system for various configurations of a cluster is required. In this article, we propose an autonomous distributed control system for each single-legged modular robot to collectively achieve static walking of the cluster with various leg configurations on planar ground. Moreover, our system is an autonomous distributed system with scalability and fault tolerance, in which each module determines the moving pattern of its foot through local communication without global information, such as the entire leg configuration of the cluster. We verified that several types of clusters achieved static walking using our system not only in dynamic simulations, but also in real robot experiments.

关键词： Adaptive locomotion interlimb coordination reconfigurable modular robot self-organization

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Configuration analysis of a reconfigurable Rubik's snake robot

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 2019年第9期233卷 3137-3154页

作者： Liu, Jinguo Zhang, Xin Zhang, Ketao Dai, Jian S. Li, Shujun Sun, Qi Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Liaoning Peoples R China Chinese Acad Sci Inst Robot & Intelligent Mfg Shenyang Liaoning Peoples R China Univ Chinese Acad Sci Beijing Peoples R China Univ London Kings Coll London London England Northeastern Univ Lege Mech Engn & Automat Shenyang Liaoning Peoples R China

Versatility and adaptability are the most prominent advantages of reconfigurable modular robotic systems. Unlike integrated robotic systems, reconfigurable modular robots can be rearranged to adapt to unpredictable environments. This paper presents a novel reconfigurable modular robot inspired by the Rubik's snake toy. For this reconfigurable Rubik's snake robot, the special feature is that it can work as not only a mechanism but also as a reconfigurable structure. In this paper, the configuration analysis is the core content. The concept of valid configurations is proposed to describe valid, controllable, and non-interference configurations. The configuration analysis theories are introduced in accordance with the configuration representation, the isomorphism analysis, the interference analysis, and the motion sequence analysis. Here, the configuration representation is proposed to define the position and orientation of two modules by using the adjacency matrix and the binary digital code, respectively. The equivalent digital code and the configuration ring are used to distinguish the same or symmetric configurations for the open and closed isomorphism configurations, respectively. Meanwhile, a case study is conducted to verify the effectiveness of the isomorphism analysis. Furthermore, the working space interference method is introduced to detect the interference issue in the process of forming target configurations. To accomplish a target configuration properly, the motion sequence matrix is defined to describe the motion sequence for achieving a target configuration. Finally, an experiment on the configuration transformation is demonstrated to verify the rationality and correctness of the theories of configuration analysis.

关键词： reconfigurable modular robot configuration analysis valid configurations configuration representation motion sequence matrix

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Interaction Analysis and Online Tip-Over Avoidance for a reconfigurable Tracked Mobile modular Manipulator Negotiating Slopes

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2010年第4期15卷 623-635页

作者： Liu, Yugang Liu, Guangjun Ryerson Univ Dept Aerosp Engn Toronto ON M5B 2K3 Canada

This paper analyzes tip-over stability and develops tip-over avoidance algorithms for a reconfigurable tracked mobile modular manipulator negotiating slopes, with consideration of track-terrain and vehicle-manipulator interactions. Integrating a tracked vehicle with an onboard manipulator, a tracked mobile manipulator is vulnerable to tipping over when negotiating slopes. Unlike the wheeled mobile robots, which are normally assumed to obey the nonholonomic constraints, slippage is unavoidable for a tracked vehicle negotiating slopes. The reconfiguration of the tracked vehicle, the motion of the onboard manipulator, together with the centrifugal forces during moderate or high-speed motion give rise to transfer of load distribution, thus complicating track-terrain interactions. In this paper, tip-over stability criteria are derived for a reconfigurable tracked mobile modular manipulator negotiating slopes, and a real-time tip-over avoidance algorithm is developed with online tracked vehicle reconfiguration or manipulator adjustment. The effectiveness of the developed algorithms has been verified through simulations and experiments, and the results are reported in this paper.

关键词： Mobile manipulator reconfigurable modular robot slope negotiation tip-over avoidance tracked mobile robot track-terrain interaction vehicle-manipulator interaction

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