检索结果-内蒙古大学图书馆

Development of a new path-planning algorithm for lattice based self-reconfigurable modular robots with pivoting cube shaped modules

引用

ROBOTICS AND AUTONOMOUS SYSTEMS 2025年 188卷

作者： Dokuyucu, Halil Ibrahim Ozmen, Nurhan Gursel Karadeniz Tech Univ Dept Mech Engn Trabzon Turkiye Gen Directorate Trabzon Water & Sewerage Adm Trabzon Turkiye

In this study, a new path-planning algorithm named "Jellyfish Pump Algorithm (JPA)" for the selfreconfiguration of lattice-based self-reconfigurable modular robots (SRMRs) is presented. The JPA is inspired by the shape changing behavior of a jellyfish during its motion. This motion always satisfies the structural balance of the jellyfish with the help of adaptable and periodic shape changing actions. The proposed approach tries to confirm a physically balanced transformation process of the SRMRs considering external effects such as the gravity. The aim is to conserve the balance by employing a static plus shaped core structure of the robot body during the self-reconfiguration. The mobile modules are allowed to move around this core structure between initial and final configurations. The pivoting cube model is used as the abstraction method of the introduced algorithm. The comparison between pivoting and sliding cube models is presented considering actual world implementation aspects of SRMRs. The JPA is developed as a modification to the well-known self-reconfiguration algorithm of Melt Sort Grow. The JPA allows the robot to reach the final configuration by melting the initial configuration into a balanced intermediate phase having a plus shaped structure instead of a line configuration. The physical balance of the robot is satisfied at each step of the self-reconfiguration process. Appropriate simulations using generic 3D initial configurations have validated the proposed algorithm. Extreme cases such as locomotion and bridge formation are tested with the proposed algorithm considering the robustness and applicability. The time complexity of the JPA is O( n2) for n modules, whereas the balance restrictions enforce the algorithm to generate number of moves less than the square of number of mobile modules. The proposed algorithm was compared with a validated Melt Sort Grow algorithm considering number of moves and time complexity, and the efficiency of the algorithm

关键词： self-reconfigurable modular robots Reconfiguration algorithms Pivoting cube model Path planning Jellyfish Pump Algorithm

来源：评论

学校读者我要写书评

暂无评论

Playdough to Roombots: Towards a Novel Tangible User Interface for self-reconfigurable modular robots

Playdough to Roombots: Towards a Novel Tangible User Interfa...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Mutlu, Mehmet Hauser, Simon Bernardino, Alexandre Ijspeert, Auke Ecole Polytech Fed Lausanne Sch Engn Biorobot Lab Lausanne Switzerland Ecole Polytech Fed Lausanne Inst Bioengn Lausanne Switzerland IST Fac Engn Elect & Comp Engn Lisbon Portugal

ISBN: (纸本)9781538630815

One of the main strengths of self-reconfigurable modular robots (SRMR) is their ability to shape-shift and dynamically change their morphology. In the case of our SRMR system "Roombots", these shapes can be quite arbitrary for a great variety of tasks while the major utility is envisioned to be self-reconfigurable furniture. As such, the ideas and inspirations from users quickly need to be translated into the final Roombots shape. This involves a multitude of separate processes and - most importantly - requires an intuitive user interface. Our current approach led to the development of a tangible user interface (TUI) which involves 3D-scanning of a shape formed by modeling clay and the necessary steps to prepare the digitized model to be formed by Roombots. The system is able to generate a solution in less than two minutes for our target use as demonstrated with various examples.

关键词： tangible user interface self-reconfigurable modular robots deformable material shape formation

来源：评论

学校读者我要写书评

暂无评论

Playdough to Roombots: Towards a Novel Tangible User Interface for self-reconfigurable modular robots

Playdough to Roombots: Towards a Novel Tangible User Interfa...

引用

IEEE International Conference on Robotics and Automation

作者： Mehmet Mutlu Simon Hauser Alexandre Bernardino Auke Ijspeert Biorobotics Laboratory Écoles Polytechnique Fédérale de Lausanne Switzerland Electrical and Computer Engineering IST Instituto Superior Téchnico Lisbon Portugal

One of the main strengths of self-reconfigurable modular robots (SRMR) is their ability to shape-shift and dynamically change their morphology. In the case of our SRMR system "Roombots", these shapes can be quite arbitrary for a great variety of tasks while the major utility is envisioned to be self-reconfigurable furniture. As such, the ideas and inspirations from users quickly need to be translated into the final Roombots shape. This involves a multitude of separate processes and - most importantly - requires an intuitive user interface. Our current approach led to the development of a tangible user interface (TUI) which involves 3D-scanning of a shape formed by modeling clay and the necessary steps to prepare the digitized model to be formed by Roombots. The system is able to generate a solution In less than two minutes for our target use as demonstrated with various examples.

关键词： Tangible user interface self-reconfigurable modular robots Deformable material Shape formation

来源：评论

学校读者我要写书评

暂无评论

A distributed and morphology-independent strategy for adaptive locomotion in self-reconfigurable modular robots

引用

ROBOTICS AND AUTONOMOUS SYSTEMS 2013年第9期61卷 1021-1035页

作者： Christensen, David Johan Schultz, Ulrik Pagh Stoy, Kasper Tech Univ Denmark Dept Elect Engn DK-2800 Lyngby Denmark Univ Southern Denmark Maersk McKinney Moller Inst Modular Robot Lab Odense Denmark

In this paper, we present a distributed reinforcement learning strategy for morphology-independent lifelong gait learning for modular robots. All modules run identical controllers that locally and independently optimize their action selection based on the robot's velocity as a global, shared reward signal. We evaluate the strategy experimentally mainly on simulated, but also on physical, modular robots. We find that the strategy: (i) for six of seven configurations (3-12 modules) converge in 96% of the trials to the best known action-based gaits within 15 min, on average, (ii) can be transferred to physical robots with a comparable performance, (iii) can be applied to learn simple gait control tables for both M-TRAN and ATRON robots, (iv) enables an 8-module robot to adapt to faults and changes in its morphology, and (v) can learn gaits for up to 60 module robots but a divergence effect becomes substantial from 20-30 modules. These experiments demonstrate the advantages of a distributed learning strategy for modular robots, such as simplicity in implementation, low resource requirements, morphology independence, reconfigurability, and fault tolerance. (C) 2013 Elsevier B.V. All rights reserved.

关键词： self-reconfigurable modular robots Locomotion Online learning Distributed control Fault tolerance

来源：评论

学校读者我要写书评

暂无评论

Automatic Couplings With Mechanical Overload Protection for modular robots

引用

IEEE-ASME TRANSACTIONS ON MECHATRONICS 2019年第3期24卷 1420-1426页

作者： Belke, Christoph H. Paik, Jamie Ecole Polytech Fed Lausanne Reconfigurable Robot Lab CH-1015 Lausanne Switzerland

This paper presents an automatic coupling mechanism with mechanical overload protection for use in modular robotic systems. The genderless coupling incorporates a novel safety mechanism that disengages two modules at a predefined torque threshold. Several key design aspects allow the minimalist coupling to contain all functionalities within a compact cylindrical space. A detailed analytical model of the overload protection mechanism is validated by testing two materials and fabrication methods. We further present a functional prototype of the coupling with a demonstration of two modular robots driving toward one another, automatically connecting and disconnecting, detecting the connection, communicating in the process, and sensing the angle between them. The coupling as well as the embedded technologies and mechanisms present essential steps toward enabling fully self-reconfigurable robots combining modular and origami features, while advancing the process of introducing modularity into a wide range of robotic systems.

关键词： Coupling mechanisms mechanical overload protection origami robots self-reconfigurable modular robots

来源：评论

学校读者我要写书评

暂无评论

Maximal Operation Time Estimation for modular and self-reconfigurable robots with Output Current Constraints 3

Maximal Operation Time Estimation for Modular and Self-Recon...

引用

3rd IEEE International Conference on Control, Automation and Robotics (ICCAR)

作者： Chen, Chi-An Collins, Thomas Shen, Wei-Min Univ Southern Calif Dept Comp Sci Polymorph Robot Lab Los Angeles CA 90007 USA

ISBN: (纸本)9781509060887

A key problem in modular and self-reconfigurable robot power sharing research is that of estimating the globally maximal operation time (MOT) of a system of connected modules that share power with one another, as this information is vital to determining resource allocation in power sharing schemes. Existing MOT estimation algorithms do not consider the effect that output current constraints at each module -i.e., the fact that each module can only share a certain amount of power with other modules-have on the estimation of MOT information. This paper proposes both centralized and distributed algorithms for estimating the MOT of systems of connected modular and/or self-reconfigurable robots in which each robot module is subject to constraints on the amount of electrical current it can output. These algorithms are based on a transformation of the power sharing problem (with output current limits) to a minimum-cost flow problem, for which efficient algorithms exist. The proposed algorithms are validated in large-scale simulations to demonstrate their correctness, feasibility, and scalability.

关键词： robotic network self-reconfigurable modular robots robot self-sufficiency energy allocation energy sharing energy autonomy minimum cost flow

来源：评论

学校读者我要写书评

暂无评论

A Species-based Approach to Brain-Body Co-Evolution of modular robots 12

A Species-based Approach to Brain-Body Co-Evolution of Modul...

引用

14th International Conference on Genetic and Evolutionary Computation Conference (GECCO)

作者： Zhang, Yuyang Meng, Yan Stevens Inst Technol Hoboken NJ 07030 USA

ISBN: (纸本)9781450311786

Compared with fixed morphology robotic systems, self-reconfigurable modular (SRM) robots can reconfigure themselves to form a variety of morphologies, and carry on various types of motions. Recently, some co-evolutionary approaches have been proposed to co-evolve the robot morphology and associated controller simultaneously for locomotion tasks. However, these co-evolution approaches don't consider some physical limitations of SRM robots and usually request longer evolution process due to extensive searching space. To address these issues, we proposed a species-based co-evolution (S-CoE) algorithm. The S-CoE algorithm is applied on a simulated modular robot system and evaluated under two testing scenarios.

关键词： Evolutionary Robotics self-reconfigurable modular robots Brain-Body Co-Evolution

来源：评论

学校读者我要写书评

暂无评论

Towards Energy Homeostasis in an Autonomous self-reconfigurable modular Robotic Organism

Towards Energy Homeostasis in an Autonomous Self-Reconfigura...

引用

Computation World - Future Computing, Service Computation, Cognitive, Adaptive, Content, Patterns Conference

作者： Humza, Raja Scholz, Oliver Mokhtar, Maizura Timmis, Jon Tyrrell, Andy Fraunhofer Inst Biomed Engn IBMT Dept Biomed Microsyst St Ingbert Germany Univ York Dept Elect York YO10 5DD N Yorkshire England

ISBN: (纸本)9781424451661

This paper presents a novel approach to artificial energy homeostasis in self-reconfigurable modular robots. Using self-monitoring and self-sufficiency principles, energy harvesting in a system of distributed energy sources is proposed. In conjunction with this, we propose an artificial immune system that incorporates on-board power management system for adaptive real time detection of errors which acts as an indicator to a robot to harvest energy from other robots within the local vicinity. Early experiments show that the Artificial Immune System affords a high level of error detection within the power module and will prove to be beneficial in maintaining overall performance of a robotic unit for long periods of time.

关键词： self-monitoring energy homeostasis self-reconfigurable modular robots AIS artificial immune system

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：