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Implementation of a reconfigurable robot to Achieve Multimodal Locomotion Based on Three Rules of Configuration

robotICA 2020年第8期38卷 1478-1494页

作者： Zhou, Faliang Xu, Xiaojun Xu, Haijun Chang, Yukang Wang, Qi Chen, Jinzhou Natl Univ Def Technol Coll Intelligence Sci & Technol Changsha 410073 Peoples R China Univ Elect Sci & Technol China Sch Informat & Software Engn Chengdu 610054 Peoples R China China Astronaut Res & Training Ctr Beijing 100094 Peoples R China

In this paper, we focus on the configuration design of a reconfigurable robot that merges the functions of wheels, tracks, and legs together. A deformable rim is utilized to make the robot wheel reconfigurable to change its locomotion mode. Three rules of configuration design to achieve reconfiguration between different modes are proposed: (1) in wheel mode, the track wheel set should be hidden inside the wheel rim;(2) in track/leg mode, the folded wheel rim should be hidden inside the caterpillar loop;(3) the circumference of the wheel rim in wheel mode should be equal to the length of the track ring in track mode. According to these rules, the configuration of the deformable rim, track wheel set, and telescopic spoke are analyzed and designed. A prototype of the reconfigurable wheel is fabricated by three-dimensional printing, and its functions of locomotion in different modes, the switch between different modes, and its load-bearing ability are tested, verifying the effectiveness of the configuration design. Furthermore, a prototype of the reconfigurable robot is manufactured by computerized numerical control (CNC) machining to verify the structural design of the reconfigurable wheel. Compared to traditional hybrid robots with separate wheels, tracks, and legs, this reconfigurable design lends the multimodal robot both excellent terrain adaptability and a compact structure;thus, it can be widely used as a universal mobile platform in search and rescue missions and explosive object disposal missions.

关键词： reconfigurable robot Deformable rim Multimodal locomotion Configuration rules

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Origami-Inspired Modules Enable A reconfigurable robot with Programmable Shapes and Motions

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2022年第4期27卷 2016-2025页

作者： Chen, Zhe Tighe, Brandon Zhao, Jianguo Colorado State Univ Dept Mech Engn Ft Collins CO 80523 USA

For robots to successfully locomote in different environments, it is better to equip them with multiple modes of locomotion. Multimodal locomotion for existing robotic systems is generally realized by integrating multiple mechanisms into a single robot. These robots are generally cumbersome or challenging to control and actuate. Recently, shape morphing structures are utilized to enable reconfigurable and multifunctional robots. In this article, we present a novel origami-inspired module that can change its shape and motion. The modules consist of joints that can be individually controlled to be soft or rigid, allowing the modules to reconfigure under actuation. To understand the reconfiguration capability, we numerically analyzed the programmable shapes and motions for a module. Using the modules, we developed a reconfigurable robot with four legs, each made from four serially connected modules. The robot can walk, crawl, and inch using the same mechanical structure. We anticipate that the proposed method can be leveraged to enable robots with physical intelligence to adapt their morphologies (e.g., body shapes and leg orientations) and behaviors (i.e., locomotion modes) in response to external environments.

关键词： robots Shape Legged locomotion Heating systems Electron tubes Tendons Wires Mechanism design multimodal locomotion reconfigurable robot shape morphing

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Prototypes selection by multi-objective optimal design: application to a reconfigurable robot in sandy terrain

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INDUSTRIAL robot-AN INTERNATIONAL JOURNAL 2011年第6期38卷 599-613页

作者： Xu, He Zhang, Zhenyu Alipour, Khalil Xue, Kai Gao, X. Z. Harbin Engn Univ Coll Mech & Elect Engn Harbin Peoples R China Islamic Azad Univ Islamic Qazvin Iran Aalto Univ Dept Elect Engn FIN-02150 Espoo Finland

Purpose - Wheel-terrain interaction has hardly been taken into consideration in the process of conventional mobile robot design, but its importance has been reflected increasingly towards these categories of mobile robots in rough sandy terrain or obstacle-dense ground, as the first performance index in this situation is the trafficability of robot whose propulsion is uniquely generated by wheel-terrain interaction. Consequently, it is valuable to find an optimized design method when the terrain and robot itself are regarded simultaneously. The purpose of this paper is to present a novel and reasonable design approach to mobile robot in sandy terrain. Design/methodology/approach - Leading to some conflicted performance indices of robot, terramechanics describes the non-linear characteristics in wheel-terrain interaction mathematically, therefore, trade-offs must be implemented to get a proper solution by multi-objective optimization (MOO). In this paper, a five-wheeled drive and five-wheeled steering (5WD5WS) reconfigurable mobile robot is taken as demonstration with taxonomy of total-symmetrical, partial-symmetrical and asymmetrical prototypes. After function modeling, the MOO is carried out via iSIGHT-FD using NCGA (Neighborhood Cultivation Genetic Algorithm) to minimize the mass, wheel resistance and maximize the static stability simultaneously. Findings - After MOO, a compact and light weighted asymmetrical prototype is obtained with better trafficability, and other prototypes can produce diversified configurations to meet specific requirements. Significantly reduced masses (about 17 kg) enhance the grade-ability when robot is in rough terrain. Performed real-world experiments have also verified these prototypes. Originality/value - The paper presents a new design approach for a mobile robot which focuses on both robot and terrain simultaneously with respect to conflicted factors. To unveil the insight relation of these factors, MOO is an effective tool to get a

关键词： robots Prototypes Stability (control theory) Asymmetrical and symmetrical prototype 5th wheel reconfigurable robot MOO Terramechanics

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Overcoming Obstacles With a reconfigurable robot Using Deep Reinforcement Learning Based on a Mechanical Work-Energy Reward Function

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IEEE ACCESS 2023年 11卷 47681-47689页

作者： Simhon, Or Karni, Zohar Berman, Sigal Zarrouk, David Bengurion Univ Negev Dept Mech Engn IL-8410501 Beer Sheva Israel Bengurion Univ Negev Dept Ind Engn & Management IL-8410501 Beer Sheva Israel

This paper presents a Deep Reinforcement Learning (DRL) method based on a mechanical (work) Energy reward function applied to a reconfigurable RSTAR robot to overcome obstacles. The RSTAR is a crawling robot that can reconfigure its shape and shift the location of its center of mass via a sprawl and a four-bar extension mechanism. The DRL was applied in a simulated environment with a physical engine (UNITYTM). The robot was trained on a step obstacle and a two-stage narrow passage obstacle composed of a horizontal and a vertical channel. To evaluate the benefits of the proposed Energy reward function, it was compared to time-based and movement-based reward functions. The results showed that the Energy-based reward produced superior results in terms of obstacle height, energy requirements, and time to overcome the obstacle. The Energy-based reward method also converged faster to the solution compared to the other reward methods. The DRL's results for all the methods (energy, time and movement- based rewards) were superior to the best results produced by the human experts (see attached video).

关键词： robots Legged locomotion Wheels Reinforcement learning Torque Friction reconfigurable devices Obstacle negotiation reinforcement learning (RL) reconfigurable robot reward shaping

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Deformation Mechanism and Design of an Omni-directional Mobile reconfigurable robot 9

Deformation Mechanism and Design of an Omni-directional Mobi...

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9th Asia-Pacific Conference on Intelligent robot Systems (ACIRS)

作者： Chi, Minglu Chang, Shuaibing Cui, Shuaihua Li, Zhixiang Li, Jianbo Xia, Zhiqiang Ren, Qinchao Henan Inst Technol Sch Intelligent Engn Xinxiang Henan Peoples R China Henan Inst Technol Sch Elect Engn & Automat Xinxiang Henan Peoples R China Jiangsu Huibo Robot Technol Co Ltd Suzhou Peoples R China

ISBN: (纸本)9798350352573

In this paper, an omni-directional mobile reconfigurable robot (OMRR) is developed. The Arduino is used as the main control board and the McNamum wheel chassis is used as the omnidirectional platform. The drive mode is symmetrical in structure and provides stable and balanced traction force. There are two types of OMRR: I shape and C shape, which are analyzed and studied. The OMRR dynamics model is established, and the deformation mechanism of the OMRR is analyzed. The motion performance and transformation process of the OMRR in different forms are studied, and the transformation process of the robot from I shape to C shape and from C shape to I shape is planned. The results show that the designed OMRR can move and transform stably, and can effectively pass through a narrow space, which verifies the feasibility of the design of the OMRR, and lays a foundation for the research of reconfigurable robot.

关键词： Omni-directional mobility reconfigurable robot McNamum wheels deformation mechanism

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Autonomously reconfigurable robot Coupled with Intelligent Vision and Control System for Rapid Runtime Adaptation 5

Autonomously Reconfigurable Robot Coupled with Intelligent V...

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IEEE 5th Annual World AI IoT Congress (AIIoT)

作者： Labartkava, Gvarami Suhaimi, Nurin Binti Silva, Thiago Kirischian, Lev Seneca Polytech Dept Comp Programming & Anal Toronto ON Canada Toronto Metropolitan Univ Dept Elect & Comp Engn Toronto ON Canada

ISBN: (纸本)9798350387803;9798350387810

The widespread integration of robotic technology across diverse sectors necessitates solutions that embody both adaptability and speed. However, existing systems often exhibit a trade-off between these attributes, lacking swift adaptability. This paper introduces a novel self-reconfiguration system that addresses this challenge. Employing a scissor mechanism for rapid adjustment and an intelligent binocular vision driven by computer vision and reinforcement learning algorithms, the proposed system facilitates swift reconfiguration while effectively managing workload. Real-time perception and understanding of the surroundings enable the robot to promptly identify optimal dimensions and adjust its configuration accordingly. This capability empowers the robot to rapidly respond to new tasks without manual intervention, thereby augmenting its versatility and agility. Experimental validation demonstrates the system's adeptness in navigating passages of varying widths in under a second, underscoring the efficacy of our approach in training the robot to adeptly adapt to diverse environmental conditions.

关键词： reconfigurable robot Adaptable robot Reinforcement Learning Stereo Vision

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A Cuboctahedron Module for a reconfigurable robot

A Cuboctahedron Module for a Reconfigurable Robot

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IEEE/RSJ International Conference on Intelligent robots and Systems

作者： Li, Shuguang Yuan, Jianping Nigl, Franz Lipson, Hod Northwestern Polytech Univ Xian 710072 Shaanxi Peoples R China Cornell Univ Cornell Computat Synthesis Ithaca NY 14853 USA Cornell Univ Sibley Sch of Mech & Aerosp Engn Ithaca NY 14853 USA

ISBN: (纸本)9781424466757

We present a concept for a modular robot with a quasi-regular polyhedron based on a cuboctahedron element. Lattice-type modular robots can adapt their morphology by reconfiguring to various shapes. While regular polyhedrons provide the bases of many promising 3D lattice elements, few modular robots have shapes with more than six regular faces. The conceptual design and prototypes of cuboctahedron elements are presented in this paper. To account for the various connecting configurations between robotic modules, we propose a directed graph with three parameters to represent the morphology of such a modular robotic system.

关键词： 3D lattice elements cuboctahedron module decentralised control directed graph intelligent robots lattice-type modular robots prototypes quasiregular polyhedron reconfigurable robot

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Design and realization of a novel reconfigurable robot with serial and parallel mechanisms

Design and realization of a novel reconfigurable robot with ...

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IEEE International Conference on robotics and Biomimetics (ROBIO 2006)

作者： Wang, Wei Zhang, Houxiang Zong, Guanghua Zhang, Jianwei Beihang Univ Inst Robot Beijing Peoples R China Univ Hamburg TAMS Dept Informat Hamburg Germany

ISBN: (纸本)9781424405701

Civil rescue and military reconnaissance are domains that involve a great amount of manpower;and it is quite dangerous and laborious in a hostile environment. This paper presents a novel field robot JL-I based on reconfiguration for these applications. The robotic system consists of 3 uniform modules;each module is an entire robotic system that can perform distributed activities. In order to meet the requirements of highly adaptive locomotion capabilities, the applied mechanical structure of the robot is employed to drive the serial and parallel mechanisms to form an active joint for changing shape in three dimensions. After summarizing the basic functions provided by this system, the mechanical structure, the control system and the locomotion capabilities of JL-I are introduced in detail. Finally the successful, on-site tests confirm the principles described above and the robot's ability.

关键词： reconfigurable robot mechanical structure serial and parallel mechanism

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KAIRO 3: A Modular reconfigurable robot for Search and Rescue Field Missions

KAIRO 3: A Modular Reconfigurable Robot for Search and Rescu...

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2014 IEEE International Conference on robotics and Biomimetics (ROBIO)

作者： Pfotzer, L. Ruehl, S. Heppner, G. Roennau, A. Dillmann, R. FZI Res Ctr Informat Technol Dept Interact Diag & Servicesyst Haid & Neu Str 10-14 D-76131 Karlsruhe Germany

ISBN: (纸本)9781479973972

Search and rescue field missions, especially in environments which are dangerous for humans, increasingly requires the usage of robust and flexible robots. We describe the development of the modular reconfigurable robot KAIRO 3 focusing on applications in search and rescue, inspection and maintenance. After a short retrospect of previous generations of modular robots, the latest design of KAIRO 3 is presented. In particular, enhancements of the mechatronics and the control software are shown. Furthermore, the necessity to increase the flexibility of search and rescue robots will be demonstrated. To comply with this requirement, we utilized reconfiguration and adaptation of modular robots. Finally, the field results of applying KAIRO 3 at a civil protection field exercise are discussed.

关键词： Rescue reconfigurable robot Microelectromechanical devices Modular robots Religious Missions Reconfiguration Rescue robot Searches Modularity Flexible robot

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Inverse kinematics and redundant control best-suited for reconfigurable robot

Inverse kinematics and redundant control best-suited for rec...

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IEEE International Conference on Mechatronics

作者： Miwa, Nobuyasu Kataoka, Noritaka Yubai, Kazuhiro Hirai, Junji Mie Univ Dept Elect Engn Tsu Mie 514 Japan

ISBN: (纸本)9781424411832

This paper deals with the control algorithm for a reconfigurable robot system. Firstly, the concept of reconfigurable robot is described. Secondly, the distributed control in the system consisting of local-and central intelligence is explained. Then, the authors propose Virtual Velocity Transmission Algorithm (VVTA) as the best-suited non Jacobian-based inverse kinematics for this new system, and refer to the possible redundant control with VVTA. Lastly, effectiveness of thus proposed algorithm is confirmed by several simulation results.

关键词： reconfigurable robot local intelligence central intelligence non jacobian-based inverse kinematics VFTA VVTA redundant manipulator control collision avoidance

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