Selfassembly in space via selfreconfigurable robots. This project investigated the design, control, and planning issues for self configuring and self organizing robots. Project statement design and build a self reconfigurable modular robot moves independently able to connect to other modules able to move as a. Most of the self reconfigurable robot systems can be classified by following features summarized in table 1. To design a robot that could do a dangerous job in place of a human robotic arm. News search form reconfigurable robots search for articles. Self assembly systems in space are arguably within the reach of todays technology based on the research and development of self reconfigurable robots on earth. The chosen aspects of selfreconfigurable robots scientific. Self reconfigurable robots srrs are a system of many simple modules that can rearrange themselves to work together and better perform complicated tasks. The environment is explored by using the robots internal sensors, and. Users may download and print one copy of any publication from the public portal for the purpose of private study or research. Lets say there are dozens, maybe hundreds of these pdf files that are linked to from other sites. Ingestible, controllable, and degradable origami robot for. Damian 3, and daniela rus 1 abstract developing miniature robots that can carry out versatile clinical procedures inside the body under the remote.
Self reconfigurable modular robots are metamorphic systems that can autonomously change their logical or physical configurations such as shapes, sizes, or formations, as well as their locomotion and manipulation, based on the mission and the environment in hand. Since there are active joints, passive joints and links, and all modules can connect with each other to achieve configuration changes, this robot is called an underactuated self reconfigurable robot. Modular, self reconfigurable robots show the promise of great versatility, robustness and low cost. The field of self reconfigurable robots has seen significant progress over the last twenty years, and this book collects and synthesizes existing research previously only available in widely scattered individual papers, offering an accessible guide to the latest information on self reconfigurable robots for researchers and students interested. Distributed modular composition of robot is one of the most effective approaches to attain such abilities and has a potential to adapt to its surroundings by changing its configuration autonomously according to information of surroundings. In these researches, the hardware design of the module and the software design of the control algorithms are the central issues. Emergent structures in modular selfreconfigurable robots. Surprisingly simple scheme for selfassembling robots mit news. How to prevent a pdf file from being indexed by search.
Self reconfigurable modular robots and their symbolic configuration space. For example, if a particular robot system needs to climb stairs, it would reconfigure itself so it can crawl up stairs. Pdf path tracking control of selfreconfigurable robot. Bruce lee the dtto robot is a modular transformable robot designed to be versatile, flexible and self reconfigurable. It also has four differentialdrive units which can steer individually. Humans and robots following the remarkable successes of the apollo moon landings and the skylab space station program, many space experts began reconsidering the role of humans in space exploration. Selfreconfigurable modular robots adaptively transforming. Control of selfreconfigurable robot teams for sensor. Programming a modular, selfreconfigurable robot is how ever a complicated task. Development of distributed control algorithms for self reconfigurable robot systems is a challenging issue.
A domainspecific language for programming selfreconfigurable. Hinmansweeney, john feddema, and steven eskridge prepared by sandia national laboratories albuquerque, new mexico 87185 and livermore, california 94550 sandia is a multiprogram laboratory operated by sandia corporation. That is, each sambot module is a fully autonomous mobile. Self reconfigurable modular robots adaptively transforming a mechanical structure. Such robots consist of many modules that can move relative to each other, thereby changing the overall shape of the robot to suit different tasks. Thus you may not be able to do this, for example, on github pages. Wikipedia modular self reconfiguring robotic systems or self reconfigurable modular robots are autonomous kinematic machines with variable morphology. This thesis details the development of the 3d mblocks modular robot system. Recon gurable robots are robots made from a possibly large number of independent modules that are connected to form a robot. They are in theory more extensible then traditional robotics. In this paper we examine the development of modular self reconfigurable robots. A read is counted each time someone views a publication summary such as the title, abstract, and list of authors, clicks on a figure, or views or downloads the fulltext.
As the latticetype system, the system can metamorphose into various shapes without external help, then it functions as robotic system such as legged walking machine. Concept of selfreconfigurable modular robotic system. Climbing and walking robots 2004 a hardwaresoftware architecture for self re configurable robots, proceedings of the 7th international symposium on dis tributed autonomous robotics systems dars 04. In 2006 ieeersj international conference on intelligent robots and systems iros, october, 2006. Students will explore design, cosntruction, teamwork, and. Introduction to robotics nyu tandon school of engineering. This paper presents examples and issues in realizing those promises. This feature, however, is not generally available for modular selfreconfigurable robots. Ingestible, contr ollable, and degradable origami robot for patching stomach wounds shuhei miyashita 1, steven guitron, kazuhiro yoshida 2, shuguang li, dana d.
Hierarchical motion planning for self reconfigurable modular robots abstract motion planning for a self reconfigurable robot involves coordinating the movement and connectivity of each of its homogeneous modules. Apr 16, 2014 introduction modular selfreconfiguring robotic systems or self reconfigurable modular robots are autonomous kinematic machines with variable morphology, structure, and functionality. Dtto modular robot selfreconfigurable modular robot. To develop a robotic arm and end effector to interact with the environment lego brick sculptures and robotics in education. The ability to reconfigure allows a robot or a group of robots to disassemble and reassemble machines to form new morphologies that are better suited for new tasks. In this paper we investigate the use of sensors in selfreconfigurable robots. Selfreconfigurable modular robotic systems youtube. Modular self reconfigurable robots present wide and unique solutions for growing demands in the domains of space exploration, automation, consumer products, and so forth. Moreover, an important design goal is to make it easy to experiment in simulation with new designs for self recongurable robots. Multiagent control of selfreconfigurable robots sciencedirect.
In this paper, we propose a novel threedimensional self reconfigurable robotic module. Therefore, we propose a heterogeneous self reconfigurable robot with genderless, failsafe connecting mechanisms. We demonstrate how multiagent systems provide useful control techniques for modular self reconfigurable metamorphic robots. Each module has sensors, actuators, processing power, and means of communicating. Jan 30, 2017 modular self reconfigurable robots involve various modules that can combine themselves autonomously into a structure that is capable of performing a specific task under certain circumstances or. Robot institute of america a robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools or specialized devices through variable programmed motions for the performance of.
If the modules from which the recon gurable robot is built are able to connect and disconnect without human intervention the robot is a self recon gurable robot. A minimally actuated reconfigurable continuous track robot. To realize the full potential of self reconfigurable robots, a flexible and reliable connection mechanism is an essential. The idea of modular robots is that they can adopt any shape they want, by changing the position and the connection of their modules. Mechanical design of a module for selfreconfigurable robotics john w. Beyond conventional actuation, sensing and control typically found in fixedmorphology robots, self reconfiguring robots are also able to deliberately change their own shape by rearranging the connectivity of their parts, in order to adapt to new. Path tracking control of self reconfigurable robot htetro with four differential drive units preprint pdf available november 2019 with 55 reads how we measure reads. The robot is fitted with a regular propulsion motor similar to a regular track and has a locking mechanism located at the front. Pdf reconnectable joints for selfreconfigurable robots. Some limitations of homogeneous designs and connection mechanisms are discussed. These modules move in relationship to each other, which allows the robot as a whole to change shape. Pdf on the use of sensors in selfreconfigurable robots. Telecubes is a cubic module that has six prismatic degrees of freedom whose sides can expand more than twice its original length and has the ability to magnetically deattach to other. A self reconfigurable robot is a robot built from potentially many modules which are connected to form the robot.
Polybot is a modular, self reconfigurable system that is being used to explore the hardware reality of a robot with a large number of interchangeable modules. Some modular robots currently exist only as computer simulations. Beyond conventional actuation, sensing, and control typically found in fixedmorphology robots, selfreconfigurable robots are also able to deliberately. The sambot is a self assembly robot combining advantages of mobile and chainbased reconfigurable robot. The small size, the versatility and the limitless shapes it can. The rctr can change its geometry while advancing, thus enabling it to crawl and climb over different terrains and obstacles. Copyrighted material self reconfigurable robots n introduction kasper stoy, david brandi, and david j. Pdf a unified simulator for selfreconfigurable robots. Modular reconfigurable robots have a number of other advantages over their more traditional, fixedarchitecture counterparts.
Christensen a comprehensive survey of the growing field of selfreconfigurable robots that discusses the history of the field, design considerations, and control strategies. Only a few distributed algorithms for two or threedimensional systems. Selfcalibration of threelegged modular reconfigurable. An introduction find, read and cite all the research you need on researchgate. This paper presents an approach to self assembly in space by developing 1 a novel design for intelligent and reconfigurable components.
Software architecture for modular selfreconfigurable robots. The higher utilization factor and self healing capabilities are most demanded traits in robotics for real world applications and modular robotics offer better solutions in these perspectives in relation to traditional robotics. Self reconfigurable robots are constructed of robotic modules that can be connected in many different ways. Research on selfreconfigurable modular robot system. First, they support multiple modalities of locomotion and manipulation.
Iros workshop on selfreconfigurable robots cybertronica. Preethi srinivas bhat, james kuffner, seth copen goldstein, and siddhartha s. The higher utilization factor and self healing capabilities are most demanded traits in robotics for real world applications and modular robotics offer better solutions in these perspectives in relation to traditional. Design of a modular selfreconfigurable robot abstract. Proceedings of the 2003 ieee international conference on robotics and automation icra 2003, taipei, taiwan, pp. Pdf the goal of the conro project was to develop a miniature reconfigurable robot that can be tasked to perform reconnaissance and search and.
In this paper we apply two of those models to a metamodulebased shape planning algorithm and comment on the differences between the two approaches. The robot has self reconfiguring skills and is able to perform creepingwalking motion. History and state of the art the roots of the concept of modular self reconfigurable robots can be traced back to the quick change end effecter and automatic tool changers in computer numerical controlled machining centers in the 1970s. Reconfigurable modular robots are classified into two types, lattice type 2,4,8 and thread type 6,7. In this paper, we propose the development of an algorithmic basis for heterogeneous selfreconfiguring systems. Mar 31, 2010 self reconfigurable robots focuses on conveying the intuition behind the design and control of self reconfigurable robots rather than technical details. In this paper we examine the development of modular selfreconfigurable robots. Introduction research in selfreconfigurable robots have been active in. Oct 04, 20 as rus explains, researchers studying reconfigurable robots have long used an abstraction called the slidingcube model. The paper presents a modular robot, designed for reconfiguring, in order to achieve both walking and crawling motion. Self reconfigurable robotic systems can potentially lower overall robot cost by making many copies of one or relatively few type of modules so.
Pdf emergent structures in modular selfreconfigurable. While the former can transform itself into various static structures like junglegym, it is difficult to generate dynamic robotic motions. However, allowing modules of varying types, with different sensors, for example, is of practical interest. Current research in selfreconfiguring robots focuses predominantly on systems of identical modules.
Reconfiguration occurs when the shape of the robot changes from some initial configuration to a target configuration. Algorithm for adaptive transformation to load condition yosuke suzuki,1 norio inou,2 hitoshi kimura,2 and michihiko koseki3 1graduate school of informatics and engineering, the university of electrocommunications, 1828585 tokyo, japan 2department of mechanical and control engineering, tokyo institute of. This paper gives an chosen aspects of self reconfigurable robotics with regards to individual aspects technical, control, morphology and basic consideration to the description of some. In this model, if two cubes are face to face, one of them can slide up the side of the other and, without changing orientation, slide across its top. We investigate the particular problem of using srrs to both explore and survey an unknown environment. A modular robot can consist of a few modules or many, depending on the robot s design and the task it needs to perform. In this paper, we propose a self reconfigurable modular robotic system which has advantages of both types.
Modular self reconfigurable robot systems citeseerx. A selfreconfigurable modular robot mtran hardware and. Jun 29, 2017 the case study on the evolution of domainspecific languages is based on a series of dsl prototypes developed over five years for the domain of modular, self reconfigurable robots. This letter presents a minimally actuated reconfigurable continuous track robot rctr. Within manufacturing systems design, reconfigurable manufacturing systems have been well studied 64,122,155,267, another good example of reconfigurability is modular reconfigurable robots. Current research in selfreconfiguring robots focuses. Because of the timing, complexity, and asynchronicity challenges common in modular robot software we have recently begun to explore new programming models for modular robot ensembles. In a healthy debate on exploration strategies, some experts concluded the goals of the future would be best served by robotic spacecraft. Self calibration of threelegged modular reconfigurable parallel robots based on legend distance errors volume 19 issue 2 guilin yang, iming chen, wee kiat lee, song huat yeo. Many researchers also assumed simplified solutions for docking. On the other hand, there are many robotic architectures 1,2,11, however, none of these architectures completely fit the properties of modular self reconfigurable robots, i. This is achieved through individual modules which can disconnect and reconnect to each other and assemble into a larger robot.
Self assembly in swarm robotics is essential for a group of robots in achieving a common goal that is not possible to achieve by a single robot. The passive joints may be designed in a robot to reduce the robots weight, cost, or energy consumption, or an active joint becomes a passive. Drawing from the recent research on modular robots e. A distributed reconfigurable microrobotic system is a collection of unlimited numbers of distributed small, homogeneous robots designed to autonomously organize and reorganize in order to achieve missionspecified geometric shapes and functions. We initially design three basic types joint, power and special units of. Will, p implementing configuration dependent gaits in a self reconfigurable robot.
Self reconfigurable robots are modular robots that can dynamically and intelligently reconfigure their shape and size to accomplish difficult missions. Homans and mark yim palo alto research laboratory 3333 coyote hill road, palo alto, ca 94304 usa abstract. A comprehensive survey of the growing field of self reconfigurable robots that discusses the history of the field, design considerations, and control strategies. Modular self reconfiguring robotic systems or self reconfigurable modular robots are autonomous kinematic machines with variable morphology. Pdf the field of modular selfreconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous. Self reconfigurable robotic systems are potentially more adaptive than conventional systems. Modular robots are made of lots of these small, identical modules. Modular self reconfigurable robots msrr are robotic systems which contain many modules that can form and break connections with other modules, and move on a lattice of other. On the other hand, the latter has snakelike shape that can generate various dynamic.
Self reconfigurable robots are highly desirable in tasks such as fire fighting, search and rescue after an earthquake, and battlefield reconnaissance, where robots must encounter unexpected situations and obstacles and perform tasks that are difficult for fixedshape robots. The selfreconfigurable the robotic platform, htetro, is designed for floor cleaning tasks. Since robot parts are interchangeable within a robot and between different robots, machines can also replace faulty parts autonomously, leading to self repair. Modular robot with selfreconfigurable capabilities. In this paper, we propose the development of an algorithmic basis for heterogeneous self reconfiguring systems. We also need the schematics file to check the connections. Modular selfreconfigurable robots msrr are systems. An introduction intelligent robotics and autonomous agents series kindle edition by stoy, kasper, brandt, david, christensen, david j download it once and read it on your kindle device, pc, phones or tablets.
Modular selfreconfigurable robot systems harvard canvas. In essence, ussr is a framework that provides a number of primitive building blocks that can be. The higher utilization factor and self healing capabilities are most demanded traits in robotics for real world applications and modular robotics offer better solutions in. Current research in self reconfiguring robots focuses predominantly on systems of identical modules. Pdf on jan 1, 2010, k stoy and others published selfreconfigurable robots. Universal robots rur robot in czech is a word for worker or servant definition of robot. Six modules can be connected to form a fourlegged structure or an open chain. Hierarchical motion planning for self reconfigurable modular robots. Self reconfiguring modular robot linkedin slideshare.
From roles to anatomy to scalable modular selfreconfigurable. Such a mechanism will enable the elements in a system to physically connect and reconnect to form different configurations, shapes, and assemblies. Selfreconfigurable robots with atron modules springerlink. Suggestions for further reading refer readers to the underlying sources of technical information.