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INTERNATIONAL JOURNAL OF robotics RESEARCH 2008年第3-4期27卷 299-314页

作者： Campbell, Jason Pillai, Padmanabhan Intel Res Pittsburgh PA 15213 USA

modular robot designers confront inherent tradeoffs between size and power. Smaller, more numerous modules increase the adaptability of a given volume or mass of robot, allowing the aggregate robot to take on a wider variety of configurations, but do so at a cost of reducing the power and complexity budget of each module. Fewer, larger modules can incorporate more powerful actuators and stronger hinges, but at a cost of overspecializing the resulting robot in favor of corresponding uses. In this paper we describe a technique for coordinating the efforts of many tiny modules to achieve forces and movements larger than those possible for individual modules. In a broad sense, our work aims to make actuator capacity and range at least partly fungible by algorithm design and ensemble topology, rather than being immutable properties of a particular module design. An important aspect of this technique is its ability to bend complex and large-scale structures and to realize the equivalent of large-scale joints. By enabling scalable joints, and the "muscles" that could actuate larger structures, our work makes it more likely that modular robot ensembles can successfully be scaled up in number and down in size.

关键词： cellular and modular robotics

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Distributed watchpoints: Debugging large modular robot systems

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2008年第3-4期27卷 315-329页

作者： De Rosa, Michael Goldstein, Seth Lee, Peter Campbell, Jason Pillai, Padmanabhan Carnegie Mellon Univ Dept Comp Sci Pittsburgh PA 15213 USA Intel Res Pittsburgh Pittsburgh PA 15213 USA

Distributed systems frequently exhibit properties of interest which span multiple entities. These properties cannot easily be recognized from any single entity, but can be readily detected by combining the knowledge of multiple entities. Testing for distributed properties is especially important in debugging or verifying software for modular robots. We have developed a technique we call distributed watchpoint triggers which can efficiently recognize distributed conditions. Our watchpoint description language can handle a variety of temporal, spatial and logical properties spanning multiple robots. In this paper we present the specification language, describe the distributed online mechanism for detecting distributed conditions in a running system and evaluate the performance of our implementation.

关键词： cellular and modular robotics distributed robot systems programming environment

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