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Self-Amputating and Interfusing Machines

ADVANCED MATERIALS 2024年第32期36卷 e2400241页

作者： Yang, Bilige Nasab, Amir Mohammadi Woodman, Stephanie J. Thomas, Eugene Tilton, Liana G. Levin, Michael Kramer-Bottiglio, Rebecca Yale Univ Sch Engn & Appl Sci 9 Hillhouse Ave New Haven CT 06511 USA Tufts Univ Dept Biol Allen Discovery Ctr 200 Boston Ave Suite 4604 Medford MA 02155 USA Harvard Univ Wyss Inst Biolog Inspired Engn 3 Blackfan Cir Boston MA 02115 USA

Biological organisms exhibit phenomenal adaptation through morphology-shifting mechanisms including self-amputation, regeneration, and collective behavior. For example, reptiles, crustaceans, and insects amputate their own appendages in response to threats. Temporary fusion between individuals enables collective behaviors, such as in ants that temporarily fuse to build bridges. The concept of morphological editing often involves the addition and subtraction of mass and can be linked to modular robotics, wherein synthetic body morphology may be revised by rearranging parts. This work describes a reversible cohesive interface made of thermoplastic elastomer that allows for strong attachment and easy detachment of distributed soft robot modules without direct human handling. The reversible joint boasts a modulus similar to materials commonly used in soft robotics, and can thus be distributed throughout soft robot bodies without introducing mechanical incongruities. To demonstrate utility, the reversible joint is implemented in two embodiments: a soft quadruped robot that self-amputates a limb when stuck, and a cluster of three soft-crawling robots that fuse to cross a land gap. This work points toward future robots capable of radical shape-shifting via changes in mass through autotomy and interfusion, as well as highlights the crucial role that interfacial stiffness change plays in autotomizable biological and artificial systems. Yang et al. introduce a reversible cohesive interface made of thermoplastic elastomer that allows for strong attachment and easy detachment of distributed soft robot modules without direct human handling. The reversible joint boasts a modulus similar to materials commonly used in soft robotics and can be distributed throughout soft robot bodies without introducing mechanical incongruities. image

关键词： autotomy modular robotics soft robotics

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An automated platform for assembling light-powered hydrogel microrobots and their subsequent chemical binding

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JOURNAL OF COMPUTATIONAL SCIENCE 2021年 55卷

作者： Vrba, Jan Maslen, Charlie Maxova, Jana Duras, Jan Rehor, Ivan Mares, Jan Univ Chem & Technol Prague Fac Chem Engn Tech 5 Prague 16628 6 Czech Republic Inst Organ Chem & Biochem Flamingovo Namesti Prague 16000 Czech Republic

This paper presents light powered hydrogel microrobots (100 mu m), that are directed to specific locations in their environment by an automated platform. The microrobots are actuated by focused laser light and crawl in aqueous environments by periodic volumetric changes of a section of their bodies. The platform consists of a stage, manipulated by stepper drivers and controlled by a Raspberry PI 4. This positions the laser light in the desired locations to move microrobots towards a goal location. The microrobots are localized via a microscope camera and repetitive usage of an algorithm based on Hough Gradient Method. The optimal position for the laser is chosen before every step so that the disk reaches the goal as fast as possible. Multiple disks are moved to form a formation of predefined geometry. An algorithm for finding the optimum sequence of disk movements to suitable positions is introduced. Subsequently, the disks are bound together chemically, using local UV illumination as the binding trigger. The bound formation can perform useful tasks, such as pushing and depositing a cargo at a target location.

关键词： robotics Image processing Pattern recognition Motion control Microrobots Hydrogel PNIPAM Radical crosslinking modular robotics

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Engineering efficient and massively parallel 3D self-reconfiguration using sandboxing, scaffolding and coating

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robotics AND AUTONOMOUS SYSTEMS 2021年 146卷

作者： Thalamy, Pierre Piranda, Benoit Bourgeois, Julien Univ Bourgogne Franche Comte UBFC CNRS FFMTO ST Inst 1 Cours Leprince Ringuet F-25200 Montbeliard France

Programmable matter based on modular self-reconfigurable robots could stand as the ultimate form of display system, through which humans could not only see the virtual world in 3D, but manipulate it and interact with it through touch. These systems rely on self-reconfiguration processes to reshape themselves and update their representation, using methods that we argue, are currently too slow for such applications due to a lack of parallelism in the motion of the robotic modules. Therefore, we propose a novel approach to the problem, promising faster and more efficient self-reconfigurations in programmable matter display systems. We contend that this can be achieved by using a dedicated platform supporting self-reconfiguration named a sandbox, acting as a reserve of modules, and by engineering the representation of objects using an internal scaffolding covered by a coating. This paper introduces a complete view of our framework for realizing this approach on quasi-spherical modules arranged in a face-centered cubic lattice. After thoroughly discussing the model, motivations, and making a case for our method, we synthesize results from published research highlighting its benefits and engage in an honest and critical discussion of its current state of implementation and perspectives. (C) 2021 Elsevier B.V. All rights reserved.

关键词： Programmable matter Distributed algorithms modular robotics Self-reconfiguration Multi-agent systems

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A Frequency Modulation-Based Taxel Array: A Bio-Inspired Architecture for Large-Scale Artificial Skin

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SENSORS 2021年第15期21卷 5112页

作者： Assaf, Tareq Univ Bath Dept Elect & Elect Engn Bath BA2 7AY Avon England

This work introduces an array prototype based on a Frequency Modulation (FM) encoding architecture to transfer multiple sensor signals on a single wire. The use case presented adopts Hall-effect sensors as an example to represent a much larger range of sensor types (e.g., proximity and temperature). This work aims to contribute to large area artificial skin systems which are a key element to enhance robotic platforms. Artificial skin will allow robotic platforms to have spatial awareness which will make interaction with objects and users safe. The FM-based architecture has been developed to address limitations in large-scale artificial skin scalability. Scalability issues include power requirements;number of wires needed;as well as frequency, density, and sensitivity bottlenecks. In this work, eight sensor signals are simultaneously acquired, transferred on a single wire and decoded in real-time. The overall taxel array current consumption is 36 mA. The work experimentally validates and demonstrates that different input signals can be effectively transferred using this approach minimizing wiring and power consumption of the taxel array. Four different tests using single as well as multiple stimuli are presented. Observations on performances, noise, and taxel array behaviour are reported. The results show that the taxel array is reliable and effective in detecting the applied stimuli.

关键词： artificial skin modular robotics tactile sensing

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A Graph-Based Hybrid Reconfiguration Deformation Planning for modular Robots

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SENSORS 2023年第18期23卷 7892页

作者： Wei, Ruopeng Liu, Yubin Dong, Huijuan Zhu, Yanhe Zhao, Jie Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Peoples R China

The self-reconfigurable modular robotic system is a class of robots that can alter its configuration by rearranging the connectivity of their component modular units. The reconfiguration deformation planning problem is to find a sequence of reconfiguration actions to transform one reconfiguration into another. In this paper, a hybrid reconfiguration deformation planning algorithm for modular robots is presented to enable reconfiguration between initial and goal configurations. A hybrid algorithm is developed to decompose the configuration into subconfigurations with maximum commonality and implement distributed dynamic mapping of free vertices. The module mapping relationship between the initial and target configurations is then utilized to generate reconfiguration actions. Simulation and experiment results verify the effectiveness of the proposed algorithm.

关键词： modular robotics self-reconfiguration mobile robotics reconfiguration deformation swarm robotics path planning for multiple mobile robots

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Active Connection Mechanism for Soft modular Robots

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ADVANCED robotics 2012年第7期26卷 785-798页

作者： Germann, Juerg Dommer, Michael Pericet-Camara, Ramon Floreano, Dario Ecole Polytech Fed Lausanne Lab Intelligent Syst CH-1015 Lausanne Switzerland

To date, most modular robotic systems lack flexibility when increasing the number of modules due to their hard building blocks and rigid connection mechanisms. In order to improve adaptation to environmental changes, softness at the module level might be beneficial. However, coping with softness requires a fundamental rethinking of the way modules are built. A major challenge is to develop a connection mechanism that does not limit the softness of the modules, does not require precise alignment and allows for easy detachment. In this paper, we propose a soft active connection mechanism based on electroadhesion. The mechanism uses electrostatic forces to connect modules. The method is easy to implement and can be integrated in a wide range of soft module types. Based on our experimental results, we conclude that the mechanism is suitable as a connection principle for lightweight modules when efficiency over a wide range of softness, tolerance to alignment and easy detachment are desired. The main contributions of this paper are (i) the qualitative comparison of different connector principles for soft modular robots, (ii) the integration of electroadhesion, featuring a novel electrode pattern design, into soft modules and (iii) the demonstration and characterization of the performance of functional soft module mockups including the connection mechanism. (C) Koninklijke Brill NV, Leiden and The robotics Society of Japan, 2012

关键词： Soft robotics modular robotics connectivity electroadhesion

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Modelling a hormone-inspired controller for individual- and multi-modular robotic systems

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MATHEMATICAL AND COMPUTER MODELLING OF DYNAMICAL SYSTEMS 2011年第3期17卷 221-242页

作者： Schmickl, Thomas Hamann, Heiko Crailsheim, Karl Karl Franzens Univ Graz Dept Zool Artificial Life Lab A-8010 Graz Austria

For all living organisms, the ability to regulate internal homeostasis is a crucial feature. This ability to control variables around a set point is found frequently in the physiological networks of single cells and of higher organisms. Also, nutrient allocation and task selection in social insect colonies can be interpreted as homeostatic processes of a super-organism. And finally, behaviour can also represent such a control scheme. We show how a simple model of hormone regulation, inspired by simple biological organisms, can be used as a novel method to control the behaviour of autonomous robots. We demonstrate the formulation of such an artificial homeostatic hormone system (AHHS) by a set of linked difference equations and explain how the homeostatic control of behaviour is achieved by homeostatic control of the internal 'hormonal' state of the robot. The first task that we used to check the quality of our AHHS controllers was a very simple one, which is often a core functionality in controller programmes that are used in autonomous robots: obstacle avoidance. We demonstrate two implementations of such an AHHS controller that performs this task in differing levels of quality. Both controllers use the concept of homeostatic control of internal variables (hormones) and they extend this concept to also include the outside world of the robots into the controlling feedback loops: As they try to regulate internal hormone levels, they are forced to keep a homeostatic control of sensor values in a way that the desired goal 'obstacle avoidance' is achieved. Thus, the created behaviour is also a manifestation of the acts of homeostatic control. The controllers were evaluated using a stock-and-flow model that allowed sensitivity analysis and stability tests. Afterwards, we have also tested both controllers in a multi-agent simulation tool, which allowed us to predict the robots' behaviours in various habitats and group sizes. Finally, we demonstrate how this novel AHHS con

关键词： modular robotics stock-and-flow modelling hormone controller cybernetics homeostasis system dynamics

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Challenges in Automated Commercial Aircraft Production

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IFAC-PapersOnLine 2022年第2期55卷 354-359页

作者： Felix Gehlhoff Hamied Nabizada Maximilian Weigand Lasse Beers Omar Ismail Alexander Wenzel Alexander Fay Peter Nyhuis Wladislav Lagutin Martin Röhrig Institute of Automation Technology Helmut Schmidt University/University of the Federal Armed Forces Hamburg Germany Institute of Production Systems and Logistics (IFA) Leibniz University Hanover Germany Airbus Operations GmbH Hamburg Germany

Civil Aircraft development and production are facing significant challenges in future. On the one hand, the flight-path to carbon neutral aviation, like using liquid hydrogen, will require game changing technologies. Simultaneously, competition, especially on the single aisle market, is evolving fast and puts pressure on market shares and margins. The necessity of an adaptable and highly efficient production becomes more evident than ever. One contribution to achieve this goal is the research project “Intelligent modular robotics and Integrated Production System Design for Aircraft Manufacturing” (iMOD). Namely, it will analyze challenges regarding (1) an integrated and Digital Twin-based system design approach, (2) flexible and modular robotics to support workers with unergonomic tasks and (3) a flexible intralogistics based on Automated Guided Vehicles (AGVs). Those three aspects will be integrated into an approach that uses semantic technologies to connect the different components across different levels of functionality and different life cycle phases.

关键词： Aircraft Production Automated Guided Vehicles Digital Twin Model-Based Systems Engineering modular robotics Production Design

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usBot: A modular Robotic Testbed for Programmable Self-Assembly

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IFAC-PapersOnLine 2019年第15期52卷 121-126页

作者： Usman A. Fiaz Jeff S. Shamma Department of Electrical & Computer Engineering University of Maryland College Park MD USA Computer Electrical & Mathematical Science & Engineering Division King Abdullah University of Science & Technology Thuwal KSA

We present the design, characterization, and experimental results for a new modular robotic system for programmable self-assembly. The proposed system uses the Hybrid Cube Model (HCM), which integrates classical features from both deterministic and stochastic self-organization models. Thus, for instance, the modules are passive as far as their locomotion is concerned (stochastic), and yet they possess an active undocking routine (deterministic). The robots are constructed entirely from readily accessible components and unlike many existing robots, their excitation is not fluid mediated. Instead, the actuation setup is a solid state, independently programmable, and highly portable platform. The system is capable of demonstrating fully autonomous and distributed stochastic self-assembly in two dimensions. It is shown to emulate the performance of several existing modular systems and promises to be a substantial effort towards developing a universal testbed for programmable self-assembly.

关键词： robotics modular robotics mechanisms mechatronic systems multi-agent systems

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PeriSim: A Simulator for Optimizing Peristaltic Table Control

ADVANCED INTELLIGENT SYSTEMS

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ADVANCED INTELLIGENT SYSTEMS 2019年第8期1卷

作者： McKenzie, Ross M. Roberts, Jamie O. Sayed, Mohammed E. Stokes, Adam A. Univ Edinburgh Scottish Microelect Ctr Inst Integrated Micro & Nano Syst Sch Engn Alexander Crum Brown RdKings Bldg Edinburgh EH9 3FF Midlothian Scotland Edinburgh Ctr Robot EPSRC CDT Robot & Autonomous Syst Edinburgh Midlothian Scotland

Peristaltic conveyance can be used for the sorting and transport of delicate and nonrigid objects such as meat or soft fruit. The non-linearity and stochastic behavior of peristaltic systems make them difficult to control. Optimizing controllers using machine learning represents a promising path to effective peristaltic control but currently, there is no suitable simulated model of a peristaltic table in which to run these optimizations. A simple, simulated model of a peristaltic conveyor that can be used for optimizing peristaltic control on a variety of peristaltic tables is presented. This simulator is demonstrated through a limited control problem evaluated on our real-world system that is built for peristaltic conveyance. This simulator is available as the python package PeriSim so that it can be used by the robotics community for peristaltic control development.

关键词： object conveyance modular robotics peristaltic systems sorting

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