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检索条件"主题词=modular robotics"

共 115 条记录，以下是61-70 订阅

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Examining the Task Capabilities of Solid-State Self-Reconfigurable modular Robots

Examining the Task Capabilities of Solid-State Self-Reconfig...

引用

IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA)

作者： OFallon, John M. Megherbi, Dalila B. Univ Massachusetts Dept Elect & Comp Engn CMINDS Res Ctr Lowell MA 01854 USA

ISBN: (纸本)9798350322996;9798350323009

Self-reconfiguring modular robots have the potential to be used to perform many tasks. While this is certainly also true of traditional wheeled or humanoid robots, modular robots have the unique ability to "self-reconfigure" to meet the needs of a given task. This task may not have been anticipated by the operator, and especially in far remote situations such as space or undersea, recalling the robot for a retrofit is usually not an option. Future modular robots will have the ability to change their physical form to create a tool or a part to make a repair that was never anticipated to happen. Our research centers on one variant of Self-Reconfigurable modular Robots (SRMR), known as Homogenous Solid-State (HSS). Homegenous indicates that all modules are physically and functionally identical. Solid-state designates a robotic module with no moving parts, with movement and manipulation of the environment done through solid-state actuators, such as an electromagnet. This increases robustness and reliability but creates challenges not typically present in other types of robots. In this paper, we have simulated several versions of modular robots to assess their potential viability of creating objects, such as a bridge or an end effector, and performing tasks, such as lifting a load, for which the modules were not explicitly designed.

关键词： Swarm Robot Machine Learning Reinforcement Learning Self-Assembling modular robotics

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Self-Assembling modular Robotic Training Using Concurrent Dual Reinforcement Learning 18

Self-Assembling Modular Robotic Training Using Concurrent Du...

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18th Annual IEEE International Systems Conference (SysCon)

作者： O'Fallon, John M. Megherbi, Dalia Univ Massachusetts Lowell Dept Elect & Comp Engn CMINDS Res Ctr Lowell MA 01854 USA

ISBN: (纸本)9798350358810;9798350358803

Mobile robots operating in harsh and inaccessible environments, such as space, the battlefield, or disaster scenarios, can be limited by an inability to adapt to unforeseen challenges, damage, or component failure. modular, self-assembling robots composed of many homogenous robotic modules, which together form a single robot, is one method of alleviating this limitation. A robot composed of these modules has inherent redundancy, as each module can contain all necessary elements for operation, and as each module is identical, a module failure can be corrected by the remaining modules by collectively and autonomously replacing the failed module with a spare working module. Coordinating the movement, actions, and communications between multiple, potentially thousands, of modules remains an ongoing research challenge. With the objective of alleviating some of these challenges, in this paper we propose reinforcement learning as a viable method of developing algorithms for this robotic modular coordination. Here, we propose and present a platform of magnetically connected, hexagonal disk modules, which are not capable of independent operation, but collectively are capable of movement and other actions through multiple successive self-reconfigurations. We then propose a dual concurrent reinforcement learning algorithm that demonstrates these modules can learn to successfully self-reconfigure for movement while concurrently learning to navigate through an environment, searching for a goal.

关键词： Swarm Robot Machine Learning Reinforcement Learning Self-Assembling modular robotics

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Self Replicating Robotic Strategies as a Catalyst for Autonomous Architectural Construction

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International Conference on Ergonomics and Health Aspects of Work with Computers (EHAWC)/14th International Conference on Human-Computer Interaction (HCI)

作者： Fox, Michael A. Calif State Polytech Univ Pomona Pomona CA 91768 USA

ISBN: (纸本)9783642216190

The research explores examining future trends in robotics and how they can be applied to spatial interactive architectural environments. The strategy of using modular robotics of architectural space-making demonstrates an architecture whereby adaptation becomes much more holistic and operates at a very small scale. The strategy of using self replicating strategies as a catalyst for autonomous architectural construction was very much driven by the premise of an advanced architectural design studio. This paper highlights conceptual contributions by architecture students for alternative means of Martian Colonization through means creating architecture that creates itself. The parameters of the design project had three primary considerations including: The actual trajectory issues (how to get materials to the Mars), Chemical Processing (how to make materials on the Mars) and Space Manufacturing (how to fabricate and assemble/construct things on Mars). Of these central issues explored in this studio, the focus was primarily on Manufacturing as a process carried out by small modular robotics. The premise of the approach is that rather than sending a constructed architecture to space, we send tiny robotic modules that are capable of mobility and reproduction through automated fabrication techniques using in-situ materials. The modules with embedded sensors, self-healing composites, and responsive materials were designed to construct buildings aimed at adaptation. Such buildings could potentially respond in a humanlike way to counteract loads, reduce material and allow for active environmental adaptation. When enough of architecture of the colony has constructed itself - we send humans to inhabit it. Several examples by architecture students are highlighted whereby individual modules were created within the context of a space architecture design studio and applied to scenarios of space making at various scales. The design context primarily focused on the master plan of a co

关键词： modular robotics Architectural Construction Space Architecture Habitat Construction Robotic Construction Interactive Architecture

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OPTIMIZATION OF MOTION PRIMITIVES FOR HIGH-LEVEL MOTION PLANNING OF modular ROBOTS 17th

OPTIMIZATION OF MOTION PRIMITIVES FOR HIGH-LEVEL MOTION PLAN...

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17th International Conference on Climbing and Walking Robots (CLAWAR)

作者： Vonasek, Vojtech Penc, Ondrej Kosnar, Karel Preucil, Libor Czech Tech Univ Fac Elect Engn Prague 16627 Czech Republic Czech Tech Univ Fac Nucl Sci & Phys Eng Prague 11519 Czech Republic

ISBN: (纸本)9789814623346

modular robots are highly flexible systems that are able to reconfigure to various shapes and to perform diverse locomotions. To visit a desired place in a complex environment, a robot can be equipped with several motion primitives that are switched using a high-level motion planning. The utilization of the high-level motion planning allows to simplify the motion primitives, which only need to provide short motions in a vicinity of the robot. This paper investigates how to automatically optimize these motion primitives of modular robots using an evolutionary approach. The proposed optimization is experimentally verified in simulated scenarios and in experiments with real robots.

关键词： modular robotics motion planning particle swarm optimization

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Application of 3D Printed Vacuum-Actuated Module with Multi-soft Material to Support Handwork Rehabilitation 16th

Application of 3D Printed Vacuum-Actuated Module with Multi-...

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16th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Abe, Shoma Ogawa, Jun Watanabe, Yosuke Shiblee, M. D. Nahin Islam Kawakami, Masaru Furukawa, Hidemitsu Yamagata Univ Jonan 4-3-16 Yonezawa Yamagata 9928510 Japan

ISBN: (纸本)9783031537035;9783031514975;9783031514968

Soft modular robotics is a research field that pursues body flexibility while maintaining reconfigurability by employing flowable or soft materials as the main constituent materials of modular robots. In soft modular robotics, a hollow structure made of silicone is created, and the inside of the structure is pressurized to generate stretching and bending motions as an actuator module. In general, it is important to design modular robots with reconfigurability, various deformability, and environmental adaptability. modularization of soft actuators with reconfigurable and diverse deformability allows morphology to be tailored to the desired task. We have developed a soft actuator module, MORIA, that combines hollow silicone and 3D printable deformable structures (uniaxial shrinking, bending, shearing, uniform contracting, and no deformation). This study proposes a functional extension of the module "MORI-A FleX" for application as a wearable device for physical rehabilitation using this MORI-A module. Our MORI-A FleX connector is a thermoplastic polyurethane flexible connector that can be coated with materials that offer different textures to achieve excellent connectivity and texture variation. We have assembled MORI-A Flex as a rehabilitation device for hand work, assisting the fingers to move harmoniously and enabling them to grasp a slippery, brittle half-boiled egg and a PET bottle containing 200 ml of water in a deactivated state.

关键词： 3D printing soft robotics pneumatic actuator modular robotics wearable device

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The Method of the Kinematic Structure Reconfiguration of a Multifunctional modular Robot Based on the Greedy Algorithm 12

The Method of the Kinematic Structure Reconfiguration of a M...

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12th International Conference on the Developments in eSystems Engineering (DeSE)

作者： Petrenko, Vyacheslav Tebueva, Fariza Pavlov, Andrey Gurchinsky, Mikhail North Caucasus Fed Univ Inst Informat Technol & Telecommun Stavropol Russia

ISBN: (纸本)9781728130217

The aim of the article is to provide a quick reconfiguration of a large group of robots. To solve the problem, it is proposed to use a decentralized control in the form of a multi-agent system. Each agent performs movement planning based on a greedy algorithm. The simulation showed the effectiveness of the proposed method. In the future, it is planned to increase the reliability of the proposed method and its complexity for working with more complex configurations.

关键词： modular robotics self-reconfiguration group control multi-agent system

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Considerations in Autism Therapy Using robotics

Considerations in Autism Therapy Using Robotics

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4th International Conference on Computing, Communications and Networking Technologies (ICCCNT)

作者： Bharatharaj, Jaishankar Kumar, S. Senthil Univ Autonoma De Ciudad Juarez Dept Sci & Engn Mexico City DF Mexico Bharath Univ Dept Elect Instruments Chennai India

ISBN: (纸本)9781479939251

Extensive research has been carried out to luxuries the human life using robotic and artificial intelligence technologies while only few of them focus on improvising the social life of children with Autism Spectrum Disorder (ASD). Understanding the serious effects of Autism to the posterity, United Nations General Assembly has declared 2nd April as World Autism Awareness Day on 21st January 2008 [1]. Utmost expectation of any technology is to help the mankind. Hence, this paper discusses the possibilities of using Robotic tool for treating physical rehabilitation, Learning and Social interaction of Children diagnosed with ASD. This paper also discusses the psychological, physiological and social interaction difficulties faced by the subject with ASD.

关键词： Autism Spectrum Disorder Autism therapy modular robotics Human Robot Interaction BCI

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Design and Operation Principles of the Magnetomechanical Connector of the Module of the Mobile Autonomous Reconfigurable System 3rd

Design and Operation Principles of the Magnetomechanical Con...

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3rd International Conference on Interactive Collaborative robotics (ICR)

作者： Pavliuk, Nikita Krestovnikov, Konstantin Pykhov, Dmitry Budkov, Victor Russian Acad Sci SPIIRAS St Petersburg Inst Informat & Automat 3914 Line St Petersburg 199178 Russia

ISBN: (纸本)9783319995823;9783319995816

The object of this research is a multifunctional modular robot that can reconfigure the nodes and operatively change their position in the process of operation depending on the current task. The purpose of work is to study and develop homogeneous groups of robots capable of moving autonomously and forming various structures by connecting separate modules to each other. The novelty consists in the design of a module for mobile autonomous reconfigurable system (MARS), which differs from the analogues by the presence of a hybrid coupling mechanism embedded into the motor-wheel module. The developed magnetomechanical connector provides for positioning of the robotic modules relative to each other at the coupling stage and the connection of blocks of complex structures. Control of the polarity of the magnetic circuit, which is part of the connector, is carried out by the supply of short-term pulses that perform the coupling and decoupling of the units. In the course of experiments, we determined the parameters of the magnetic circuit and the principles of the functioning of the combined magnetic circuit ensuring the energy efficiency of the connector. The module moves along surfaces by means of motor wheels which comprise the coupling system of the modules. This approach allows one to save space in the robotics module and efficiently use its main part for the arrangement of power supplies and control devices. Two schemes for placing sets of magneto-mechanical connectors in the basic module were proposed.

关键词： modular robotics Servo drives Connector Magnetic circuit Magneto-Mechanical connector

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modular Robotic Arm for Teaching Braille to Children with Normal Visual Acuity

Modular Robotic Arm for Teaching Braille to Children with No...

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IEEE Colombian Conference on Applications of Computational Intelligence (ColCACI)

作者： Puentes, Santiago S. G. Moreno, Maria C. Daniel Sarmiento, Brayan Suarez, Oscar J. Univ Pamplona Mechatron Engn Dept Pamplona Spain

ISBN: (纸本)9798350316599

This paper introduces the design and development of a modular robotic arm with four degrees of freedom (DoF) intended for implementation in educational environments as an interactive robotics tool for teaching the Braille system. This project arose from the need for inclusive and accessible education, using robotics to bring Braille to a broader audience and encourage collaborative learning. Integrating direct and inverse kinematics, as well as dynamics and a cubic spline interpolator, ensures accurate and efficient movements. Additionally, a neural network model was developed and trained to calculate the kinematic inverse of the robotic arm, demonstrating a high level of accuracy and reliability in solving the kinematic inverse problem. The last link is modular, which allows switching between a writing tool to teach the Braille alphabet to people with normal visual acuity, a gripper, and a holding mechanism that will allow didactically placing different pieces to form any letter of the alphabet in Braille, as well as other classroom uses.

关键词： modular robotics Inclusive robotics Deep Learning Educational Environments Braille

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RoboCon: A modular Robotic Containerization, Orchestration, and Load Balancing Technique for Mixed Hierarchy Task Handling Across Computing Platforms 5

RoboCon: A Modular Robotic Containerization, Orchestration, ...

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5th International Conference on Control and robotics (ICCR)

作者： Roy, Swarnabha Kalafatis, Stavros Texas A&M Univ Dept Elect & Comp Engn College Stn TX 77843 USA

ISBN: (纸本)9798350307627

This paper introduces an innovative edge-cloud-based modular architecture to enhance the capabilities of multi-robot systems operating in resource-constrained environments. This architecture addresses the limitations often encountered in resource-constrained platforms with lightweight microprocessors by enabling efficient offloading of computationally intensive tasks to hybrid edge-cloud clusters, thereby augmenting computational prowess. Through a comprehensive experimental evaluation, we substantiate the effectiveness of our approach by offloading a rover's perception system to a hybrid edge-cloud cluster, enabling efficient object detection. Our findings highlight the architecture's adaptability, showcasing cloud clusters' speed advantages and local edge clusters' robustness in handling higher network throughput. This insight informs the recommendation to deploy high-throughput applications on edge clusters and computationally intensive tasks with storage and reduced network demands on cloud clusters. Furthermore, this work emphasizes the benefits of containerization and load balancing in modular robotics, facilitating platform-independent development, resource optimization, and enhanced software distribution security. Containerization's minimal impact on CPU and RAM usage has gained prominence in mobile robotic applications. However, supporting mixed-criticality software jobs remains a challenge. This paper presents performance results in federated and adaptive edge-fog-cloud networks, providing valuable insights for planning tasks with mixed-criticality criteria.

关键词： modular robotics Kubernetes k3s load balancing resource sharing edge-cloud computing Docker

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