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Chaotic CPG Based Locomotion Control for Modular self-reconfigurable robot

Journal of Bionic Engineering 2016年第1期13卷 30-38页

作者： Jizhuang Fan Yu Zhang Hongzhe Jin Xiaolu Wang Dongyang Bie Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The most important feature of Modular self-reconfigurable robot （MSRR） is the adaption to complex environments and changeable tasks. A critical difficulty is that the operator should regulate a large number of control parameters of modules. In this paper, a novel locomotion control model based on chaotic Central Pattern Generator （CPG） is proposed. The chaotic CPG could produce various rhythm signals or chaotic signal only by changing one parameter. Utilizing this characteristic, a unified control model capable of switching variable locomotion patterns or generating chaotic motion for modular self-reconfigurable robot is presented. This model makes MSRR exhibit environmental adaptability. The efficiency of the control model is verified through simulation and experiment of UBot MSRR platform.

关键词： chaotic CPG self-reconfigurable robot environment adaptability locomotion control model

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A Modular self-reconfigurable robot with Enhanced Locomotion Performances: Design, Modeling, Simulations, and Experiments

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JOURNAL OF INTELLIGENT & robotIC SYSTEMS 2016年第3-4期81卷 377-393页

作者： Zhang, Ying Song, Guangming Liu, Shengsong Qiao, Guifang Zhang, Jun Sun, Huiyu Southeast Univ Sch Instrument Sci & Engn Nanjing Jiangsu Peoples R China Jiangsu Elect Power Co Nanjing Jiangsu Peoples R China

This paper presents the design and implementation of a modular self-reconfigurable robot with enhanced locomotion capabilities. It is a small hexahedron robot which is 160 mm x 140 mm x 60 mm in size and 405 g in weight. The robot is driven by three omnidirectional wheels, with up and down symmetrical structure. The robot can perform rectilinear and rotational locomotion, and turn clockwise and counterclockwise without limitation. A new docking mechanism that combines the advantages of falcula and pin-hole has been designed for attaching and detaching different modules. The communication and image data transmission are based on a wireless network. The kinematics and dynamics of the single module has been analyzed, and the enhanced locomotion capabilities of the prototype robot are verified through experiments. The maximum linear velocity is 25.1cm/s, which is much faster than other modular self-reconfigurable robots. The mobility of two connected modules is analyzed in the ADAMS simulator. The locomotion of the docking modules is more flexible. Simulations on the wheel and crawling locomotion are conducted, the trajectories of the robot are shown, and the movement efficiency is analyzed. The docking mechanisms are tested through docking experiments, and the effectiveness has been verified. When the transmission time interval between the adjacent packets is more than 4 ms, the wireless network will not lose any packet at the maximum effective distance of 37 m in indoor environments.

关键词： Modular robot self-reconfigurable robot Locomotion analysis Omnidirectional wheels

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Motion of an Underwater self-reconfigurable robot with Tree-Like Configurations

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Journal of Shanghai Jiaotong university(Science) 2013年第5期18卷 598-605页

作者：吴超王旭阳庄广胶赵敏葛彤 State Key Laboratory of Ocean Engineering Shanghai Jiaotong University

Underwater self-reconfigurable system(USS),an underwater self-reconfigurable robot consisting of two types of modules,can reform various configurations in real *** with normal underwater robots,its diverse configurations bring forward good adaptability and more abundant *** the tree-like configurations,we propose a technique for dynamic modeling and configuration *** eel-like configuration and the octopus-like one are chosen as examples to verify the technique,and some gaits are *** the eel-like configuration with the serpentine gait,the technique gives the same simulation results as existing eel-like *** other cases,simulation results are consistent well with what happens in nature.

关键词： self-reconfigurable robot eel-like octopus-like serpentine

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Network-based reconfiguration routes for a self-reconfigurable robot

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Science in China(Series F) 2008年第10期51卷 1532-1546页

作者： LIU JinGuo MA ShuGen WANG YueChao LI Bin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate-School of Chinese Academy of Sciences Bejing 100039 China Department of Robotics Faculty of Science and Engineering Ritsumeikan University Shiga-ken 525- 8577 Japan

This paper presents a network-based analysis approach for the reconfiguration problem of a self-reconfigurable robot. The self-reconfigurable modular robot named ＂AMOEBA-I＂ has nine kinds of non-isomorphic configurations that consist of a configuration network. Each configuration of the robot is defined to be a node in the weighted and directed configuration network. The transformation from one configuration to another is represented by a directed path with nonnegative weight. Graph theory is applied in the reconfiguration analysis, where reconfiguration route, reconfigurable matrix and route matrix are defined according to the topological information of these configurations. Algorithms in graph theory have been used in enumerating the available reconfiguration routes and deciding the best reconfiguration route. Numerical analysis and experimental simulation results prove the validity of the approach proposed in this paper. And it is potentially suitable for other self-reconfigurable robots＇ configuration control and reconfiguration planning.

关键词： self-reconfigurable robot modular robot reconfiguration route network-based reconfiguration configuration network

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Design and implementation of a modular self-reconfigurable robot

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High Technology Letters 2009年第3期15卷 227-232页

作者：赵杰 State Key Laboratory of Robotics and System Harbin Institute of Technology

A novel modular self-reconfigurable robot called UBot is *** robot consists of severalstandard *** module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent *** mechanism is self-locking after con-nected,and *** achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular *** modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.

关键词： self-reconfigurable robot modular twin-rotation connecting mechanism

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Tanbot: A self-reconfigurable robot Enhanced with Mobility

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1st International Conference Intelligent robotics and Applications

作者： Zhong, Ming Li, Man-tian Sun, Li-ning Harbin Inst Technol State Key Lab Robot & Syst Heilongjiang 150001 Peoples R China

ISBN: (纸本)9783540885160

A mobile self-reconfigurable robot called Tanbot consisting of several mobile modules is proposed. Single module is configured from modular components that include ultrasonic sensor, camera, communication, computation, and mobility units, and capable of simple self-reconfiguration by expanding itself. Several modules link into a train or other configurations via sensors and cameras to negotiate different terrains when necessary, and disjoin to be individuals under computer control after missions. Two fully functional modules have been developed and several have been built and tested. This paper focuses on the design of the electromechanical hardware, and the imple-mentation of docking between two modules.

关键词： self-reconfigurable robot mobility clocking modularity

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Structure Design and Dynamic Modelling of a Novel Modular self-reconfigurable robot 13

Structure Design and Dynamic Modelling of a Novel Modular Se...

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IEEE International Conference on Mechatronics and Automation

作者： Huang, Jie Ge, Weimin Wang, Xiaofeng Liu, Jun Tianjin Univ Technol Tianjin Key Lab Design & Intelligent Control Adv Binshui Xidao 391 Tianjin 300384 Peoples R China

ISBN: (纸本)9781509023967

Reconfigurability of the modular robot is becoming curial to be a high flexibility for the wide varieties of tasks and environments. In this paper, a novel self-reconfigurable modular robot called M(2)sbot is designed, which has the approximate cuboid shaping structure. The unit model is with one active and five passive connection surfaces, compact structure and flexible motion. It is characterized by using the unique hook-claw docking mechanism as the docking part of the neighbor modular. And the responding control system based on STM32F103VET6 is also implemented. The forward kinematic equations of the chain robot are established, and then the dynamic equation is generated by the recursive Newton-Euler method based on the global matrix description. Finally, the calculation and simulation analysis of the six-module configuration with two branches demonstrates the feasibility of the proposed method in the generation of motion equation.

关键词： self-reconfigurable robot Structure designing Kinematic equation Dynamic equation Recursive Newton-Euler

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Tanbot: A Mobile self-reconfigurable robot Enhanced with Embedded Positioning Module

Tanbot: A Mobile Self-Reconfigurable Robot Enhanced with Emb...

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IEEE Workshop on Advanced robotics and Its Social Impacts

作者： Zhong, Ming Guo, Wei Li, Man-tian Xu, Ji-an Harbin Inst Technol State Key Lab Robot & Syst Harbin 150080 Heilongjiang Pr Peoples R China

ISBN: (纸本)9781424426744

This paper proposes a novel mobile self-reconfigurable robot called Tanbot consisting of several mobile modules. Single module is capable of simple self-reconfiguration by expanding itself. Several modules can dock together one by one to be a whole robot via sensors and cameras. An embedded navigation module is designed to enhance the position accuracy of Tanbot, and to improve the docking efficiency.

关键词： self-reconfigurable robot docking positioning

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Ant3DBot: A Modular self-reconfigurable robot with Multiple Configurations 15th

Ant3DBot: A Modular Self-reconfigurable Robot with Multiple ...

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15th International Conference on Intelligent robotics and Applications (ICIRA ) - Smart robotics for Society

作者： Niu, Sen Ye, Linqi Liu, Houde Liang, Bin Jin, Zongxiang Tsinghua Shenzhen Int Grad Sch Shenzhen 518055 Peoples R China Tsinghua Univ Beijing 100084 Peoples R China Shanghai Acad Aerosp Technol Shanghai 201900 Peoples R China

ISBN: (纸本)9783031138447;9783031138430

In the paper, a novel modular self-assembling and self-reconfiguring robot named Ant3DBot was proposed, which has many configurations. Ant3DBot consists of four semicircular iron spheroid shells, telescopic legs, and internal magnets that can rotate around the center. Ant3DBot can expand its shells and legs through a single motor, a synchronous belt and compressed springs, which results in two different docking states. Ant3DBot which has the height of 12 cm can traverse obstacles with the height of 8 cm, and pass through a 25 degrees slope in extending configuration. For many unstructured environments, the cooperation of multiple Ant3DBots can reach a target point with simple control. The simulations show the basic ability of a single module to overcome obstacles as well as the cooperative motion of multiple robots. The results demonstrate that the Ant3DBot system has excellent locomotion performance and versatility.

关键词： Modular robot self-reconfigurable robot Continuous docking form Fixed location docking form

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A Novel Design for the self-reconfigurable robot Module and Connection Mechanism

A Novel Design for the Self-reconfigurable Robot Module and ...

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3rd International Conference on Intelligent robotics and Applications (ICIRA)

作者： Guan, Enguang Yan, Weixin Jiang, Dongsheng Fu, Zhuang Zhao, Yanzheng Shanghai Jiao Tong Univ State Key Lab Mech Syst & Vibrat Sch Mech Engn Shanghai 200030 Peoples R China

ISBN: (纸本)9783642165832

Many researchers have paid more and more attention to the lattice self-reconfigurable modular robot for its excellent flexibility in connection and separation movements of modules. The paper proposes a novel design of self-reconfigurable robot module (M-Lattice) with the overall description. Moreover, the key features of module's genderless pin-slot-based connection mechanism are introduced. Finally, the connection mechanism is proved to be feasible for the tasks of module's self-reconfiguration by the experiments.

关键词： self-reconfigurable robot Modular Connection mechanism

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