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检索条件"主题词=modular robotics"

共 115 条记录，以下是71-80 订阅

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Method for Robot to Create New Function by Uniting with Surrounding Objects 15th

Method for Robot to Create New Function by Uniting with Surr...

引用

15th International Conference on Intelligent Autonomous Systems (IAS)

作者： Morooka, Yukio Mizuuchi, Ikuo Tokyo Univ Agr & Technol Tokyo Japan

ISBN: (纸本)9783030013707;9783030013691

In this paper, we propose a robot that creates new functions by uniting with other objects. Such a robot can be applied to various situations by creating functions that fit to the situations. In this paper, we describe the elements of the proposed robot and development of two types of prototypes. The first prototype has an uniting function by gripping objects, and we conducted a demonstration of creating an automatic angle adjustment function on a projector using this prototype. The second prototype has an uniting function by using electromagnets and we conducted demonstrations of creating a function to handle object on a high place and creating automatic open and close functions for a door using this prototype.

关键词： Function creation Uniting modular robotics Multipurpose robot

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Discrete Assembly of Unmanned Aerial Systems

Discrete Assembly of Unmanned Aerial Systems

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Cameron, Christopher G. Fredin, Zach Gershenfeld, Neil DEVCOM Army Res Lab Aberdeen MD 21005 USA MIT Ctr Bits & Atoms 77 Massachusetts Ave Cambridge MA 02139 USA

ISBN: (数字)9781665405935

ISBN: (纸本)9781665405935

We introduce a modular construction kit for rapidly assembling multi-copter unmanned aerial systems (UAS). The kit consists of voxelized building blocks based on a discrete, face-baced decomposition of a cuboctahedral lattice using a circuit board substrate. These voxel building blocks provide the structure of the vehicle, but also create electrical connections for routing power as well as command and control signals. Functional modules including propulsors, power storage, and command and control are designed to interface with the cuboctahedral lattice to create a complete vehicle. We use the system to assemble a 2.6 kg quadcopter UAS in 22 minutes, flight test the resulting vehicle, then disassemble it into components ready for reuse. We examine how the system scales to larger designs, and compare build times and performance with a comparable commerical UAS and equivalent designs built using additive manufacturing.

关键词： UAS Applications modular robotics Additive Manufacturing

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usBot: A modular Robotic Testbed for Programmable Self-Assembly 8

usBot: A Modular Robotic Testbed for Programmable Self-Assem...

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8th International-Federation-of-Automatic-Control (IFAC) Symposium on Mechatronic Systems (MECHATRONICS) / 11th International-Federation-of-Automatic-Control (IFAC) Symposium on Nonlinear Control Systems (NOLCOS)

作者： Fiaz, Usman A. Shamma, Jeff S. Univ Maryland Dept Elect & Comp Engn College Pk MD 20742 USA King Abdullah Univ Sci & Technol Comp Elect & Math Sci & Engn Div Thuwal Saudi Arabia

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. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

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

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The deformatron robot: a biologically inspired homogeneous modular robot

The deformatron robot: a biologically inspired homogeneous m...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Stoy, Kasper Univ So Denmark Maersk McKinney Moller Inst Prod Technol Odense Denmark

ISBN: (纸本)0780395050

The Deformatron robot is a homogeneous, modular robot. The Deformatron modules can play one of three roles in the physical structure of the robot: bone, tendon, and muscle. These roles are inspired by their biological counterparts. This combination of roles gives us a modular robot which potentially may have enough structural strength and actuation power to manipulate its environment and work in three dimension even in the presence of gravity. In this paper we present our preliminary LEGO-based prototype of the Deformatron robot. We measure and analyse the properties of the system in terms of structural strength and actuation power. Finally, we conclude that the Deformatron concept may provide an avenue of research which may make modular robots stronger and better suited for real world task environments.

关键词： modular robotics embodied artificial intelligence

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

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

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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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Preliminary Design and Analysis of a modular Autonomous Mobile Robot for Vineyard Operations 7th

Preliminary Design and Analysis of a Modular Autonomous Mobi...

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7th Ragusa International Conference on Safety, Health and Welfare in Agriculture and Agro-Food Systems (SHWA)

作者： Calciolari, Luca Pantano, Matteo Pantano, Giorgio Conchere, Gianmaria Univ Padua Dept Ind Engn Via Gradenigo 6-A I-35131 Padua Italy Azienda Agr Giorgio Pantano Via Straddle 40 I-35020 Candiana PD Italy Univ Padua Dept ICEA Via Venezia 1 I-35131 Padua Italy

ISBN: (纸本)9783031635069;9783031635045;9783031635038

robotics is affecting more and more different sectors. In particular automation of agricultural processes could bring several advantages by reducing waste and human effort, that's why several robots to perform a wide range of agricultural tasks are in development. However, the design of a multi-purpose robot for vineyard operations presents still some challenges like its hardware adaptability and compatibility. To tackle some of these challenges, this paper presents the conceptual design of a modular autonomous mobile robot for vineyard operations. The aim of this work is to provide design principles for a modular robot able to perform multiple tasks that are common for vine growers, such as green pruning, winter pruning and spraying. The main advantages of such a robot are multiple. First, it can be considered eco-friendly as it can reduce chemicals consumption, polluting emissions and soil compaction. Second, it can minimize the need for manpower, that means less repetitive tasks to be done and less exposure to chemicals. Finally, its modularity can allow to easily switch tools and to re-design some modules with little changes to other features. For designing this system, we adopted a design thinking approach. Thus, first requirements and concepts were created and evaluated via interviews of vine growers. Second, concepts were classified upon the evaluation. And last, the winning prototype was designed with Solidworks CAD software and evaluated on its mechanical and functional properties via a FEM analysis. By using this method, we have developed an initial design for a multipurpose robot that concentrates on the drive system and the serial hybrid powertrain design, the selection of the structure, the tool design, and their incorporation with the frame, as well as an initial estimation of the mass to conduct a preliminary FEM static analysis of the frame. As a result, we have evaluated the feasibility of the concept and identified the key features of all subsystem

关键词： modular robotics Mobile robotics Vineyard Spraying Agricultural Automation Winter Pruning

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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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Self-reconfigurable modular Robots and Their Symbolic Configuration Space

引用

16th Monterey Workshop

作者： Baarir, Souheib Hillah, Lom-Messan Kordon, Fabrice Renault, Etienne CNRS LIP6 UMR 7606 200 Ave Republ F-92001 Nanterre France Univ Paris Ouest Nanterre La Def F-92001 Nanterre France Univ Paris 06 LIP6 CNRS UMR 7606 F-75252 Paris 05 France

ISBN: (纸本)9783642212925

modular and self-reconfigurable robots are a powerful way to design versatile systems that can adapt themselves to different physical environment conditions. Self-reconfiguration is not an easy task since there are numerous possibilities of module organization. Moreover, some module organizations are equivalent one to another. In this paper, we apply symbolic representation techniques from model checking to provide an optimized representation of all configurations for a modular robot. The proposed approach captures symmetries of the system and avoids storing all the equivalences generated by permuting modules, for a given configuration. From this representation, we can generate a compact symbolic configuration space and use it to efficiently compute the moves required for self-reconfiguration (i.e. going from one configuration to another). A prototype implementation is used to provide some benchmarks showing promising results.

关键词： modular robotics Self-reconfiguration Symbolic configuration space Symmetries CKBot

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Challenges in Automated Commercial Aircraft Production 14th

Challenges in Automated Commercial Aircraft Production

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14th IFAC Workshop on Intelligent Manufacturing Systems (IMS)

作者： Gehlhoff, Felix Nabizada, Hamied Weigand, Maximilian Beers, Lasse Ismail, Omar Wenzel, Alexander Fay, Alexander Nyhuis, Peter lagutin, Wladislav Roehrig, Martin Univ Fed Armed Forces Helmut Schmidt Univ Inst Automat Technol Hamburg Germany Leibniz Univ Hannover Inst Prod Syst & Logist IFA Hannover Germany Airbus Operat 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. Copyright (c) 2022 The *** is an access article under the CC BY-NC-ND license(http://***/license/by-nc-nd/4.0/).

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

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Networked robotics

Networked robotics

引用

Conference on Sensor Fusion and Decentralized Control in Robotic Systems III

作者： McKee, GT Schenker, PS Univ Reading Dept Comp Sci Reading Berks England

ISBN: (纸本)0819438618

In this paper we present the concept of networked robotics. The networked robotics concept develops the viewpoint that robotics systems are collections of resources that are resident at identified locations on a network and, by means of an appropriate configuration process, can be connected together into a system that can perform some desired robotic task. Under this scheme a physical robot platform, a mobile robot for example, is modeled as a set of resources and a set of such platforms contributes their resources to a resource pool. Configuration patterns define the way in which these resources are configured to create a distributed architecture, which may span more than one physical robot platform. The emphasis on distributed, configurable resources makes the concept of networked robotics particularly relevant to the areas of modular and cooperative robotics. In this paper we identify the scope of networked robotics and the key research issues it raises, including the definition of resources, their configuration into control architectures and the relation of these configuration patterns to task models. We consider the relevance of networked robotics to other areas of robotics, in particular modular and cooperative robotics, and we explore technologies and tools that might support the networked robotics concept in practice.

关键词： networked robotics robot architecture modular robotics cooperative robotics

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