Self-reconfigurable robots an introduction pdf files

Productsservices for self reconfigurable robots robots 753 companies how to select industrial robots industrial robots are programmable manipulators that contain rotary andor prismatic joints in order to perform precise, repetitive movements. Related work on around fifteen such robots is presented, compared and discussed. This project investigated the design, control, and planning issues for selfconfiguring and selforganizing robots. Development of distributed control algorithms for selfreconfigurable robot systems is a challenging issue. The fixed mobile robots not become accustomed themselves to the environmental changes.

An introduction by kasper stoy, david brandt and david johan christensen download pdf 256 kb. Modular, selfreconfigurable robots show the promise of great versatility, robustness and low cost. Self reconfigurable robots an introduction pdf semantic scholar. The field of selfreconfigurable 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 selfreconfigurable robots for researchers and students interested. In these researches, the hardware design of the module and the software design of the control algorithms are the central issues. In this paper, we present a new docking system with which the connections and disconnections are driven by locomotion actuators, without the need for a separate drive, which reduces the weight and the complexity of the modules. Development of distributed control algorithms for self reconfigurable robot systems is a challenging issue. Robots are fast becoming an integral component of our everyday life and being deployed towards a number of processes over a wide range of applications.

Use features like bookmarks, note taking and highlighting while reading selfreconfigurable robots. Modular selfreconfigurable robots msrr are systems composed. Self reconfiguring modular robot linkedin slideshare. 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. In this paper, a hybrid self reconfigurable modular robot is designed, which is composed of a master module and a slave module.

Selfreconfigurable robot sytems composed of homogeneous or heterogeneous modules have an ability to configure their shapes and repair them by changing connecting. Having done so, we are able to apply polynomialtime planning algorithms that have previ ously been used only in twodimensional systems. Robots geometrical configurations cylindrical robots rpp i. This project investigated the design, control, and planning issues for self configuring and self organizing robots. In this paper we present rolebased control which is a general bottomup approach to the control of locomotion in selfreconfigurable robots. 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, selfreconfigurable robots.

A comprehensive survey of the growing field of self reconfigurable robots that discusses the history of the field, design considerations, and control strategies. Introduction exoskeleton mechanical systems are force supportive structures for people so as to increase their endu rance and enable efficient repeatability of tedious physical jobs over lengthy periods of time. Introduction modular self reconfigurable robots are composed of active modules capable of rearranging their connection topology to adapt to dynamic environments, changing task settings, and. Users may download and print one copy of any publication from the public portal for the purpose of private study or research. Dong 10 have developed modular and reconfigurable robot modules having power supplies, processing systems, actuators and sensors. This means that algorithms controlling change of shape and. This simulator, named the unied simulator for self recongurable robots ussr, is designed to support a wide variety of self recongurable robots.

Reconfigurable robots are robotic systems that can change their shape by relocating their modular elements. This is achieved through individual modules which can disconnect and reconnect to each other and assemble into a larger robot. The modules are so designed that the robot can perform variety of tasks with a complex working environment. An introduction intelligent robotics and autonomous. While the system has the promise of being capable of doing a wide variety of tasks, finding the killer application has been somewhat elusive. By changing the connections among modules, the whole configuration of the robot can transform into arbitrary other configurations. Apr 16, 2014 introduction modular selfreconfiguring robotic systems or self reconfigurable modular robots are autonomous kinematic machines with variable morphology, structure, and functionality. Introduction metamorphic or selfreconfigurable robots offer a new approach in robotics, in which largescale results may be accomplished by the coordinated actions of a large number of very small robots. Modular reconfigurable robots in space applications pdf. This universal the international journal of robotics research vol. 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. 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. These modules move in relationship to each other, which allows the robot as a whole to change shape.

Design of a robotic module for autonomous exploration and. Based on this survey, design considerations leading to a novel design for a selfreconfigurable robot, called atron, is described. Robots are not exception of this, and many attempts have been made to realize reliable and flexible robot systems. An introduction intelligent robotics and autonomous agents series stoy, kasper, brandt, david, christensen, david j. Collaborative manipulation and transport of passive pieces using the selfrecongurable modular robots roombots st ephane bonardi, massimo vespignani, rico moeckel, auke jan ijspeert. This paper gives an chosen aspects of selfreconfigurable robotics with regards to individual aspects technical, control, morphology and basic.

Existing selfreconfigurable robots achieve connections and disconnections by a separate drive of the docking system. The robot can also perform tasks such as locomotion without changing shape. Selfreconfiguration, modular robotic system, microrobot, sma actuator. We use rolebased control to implement a caterpillar, a sidewinder, and a rolling track gait in the conro selfreconfigurable robot consisting of eight modules. Selfreconfigurable modular robots consist of many identical modules. Abstractthis paper presents a hybrid robot that achieves locomotion through legs and wheels. Selfreconfigurable robots are modular robots that can dynamically and intelligently reconfigure their shape and size to accomplish difficult missions. Modular, self reconfigurable robots show the promise of great versatility, robustness and low cost.

Software architecture for modular selfreconfigurable robots. Introduction metamorphic or self reconfigurable robots offer a new approach in robotics, in which largescale results may be accomplished by the coordinated actions of a large number of very small robots. Gait generation in manobgari a reconfigurable transformer. Such robots are required to find safe and feasible routes to navigate effectively in the environment. Selfreconfigurable modular robots srmrs are assemblies of autonomous robotic units, referred to as modules, joined together using active connection mechanisms. Polybot is a modular, selfreconfigurable system that is being used to explore the hardware reality of a robot with a large number of interchangeable modules. Hinmansweeney, john feddema, and steven eskridge prepared by sandia national laboratories albuquerque, new mexico 87185 and livermore, california 94550 sandia is a multiprogram laboratory.

The higher utilization factor and selfhealing 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. Selfreconfigurable robots are constructed of robotic modules that can be connected in many different ways. Introduction the concept of a modular selfreconfigurable robot is a relatively new concept that extends ideas on reconfigurable robotic manipulators, modular robots, and mobile robots. Selfreconfigurable robots are robots that can change their shape in order to better suit their given task in their immediate environment.

These robots are used in unknown environments where robots may be required to change their configurations to meet the demands of a specific task. Copyrighted material self reconfigurable robots n introduction kasper stoy, david brandi, and david j. Modified astar algorithm for efficient coverage path. By changing the connectivity of these modules, srmrs are able to deliberately change their own shape in order to adapt to new environmental circumstances. This selfreconfigurable sr robot exemplifies a new trend in robotics, indeed, we can now build various kinds of sr robots with offtheshelf technologies of processors, actuators, and sensors. Christensen a comprehensive survey of the growing field of selfreconfigurable robots that discusses the history of the field, design considerations, and control strategies.

Modular selfreconfiguring robotic systems or selfreconfigurable modular robots are autonomous kinematic machines with variable morphology. Collection of web sites, web pages, video clips, articles, and documents. Mechanical design is less complex than cartesian robots. Design, simulation and analysis of self reconfigurable robot. Self reconfigurable robots are modular robots that can dynamically and intelligently reconfigure their shape and size to accomplish difficult missions. An introduction intelligent robotics and autonomous agents. Application areas given these advantages, where would a modular selfreconfigurable system be used.

Self reconfigurable robot sytems composed of homogeneous or heterogeneous modules have an ability to configure their shapes and repair them by changing connecting relations between modules. Micro selfreconfigurable modular robot using shape. We use rolebased control to implement a caterpillar, a sidewinder, and a rolling track gait in the conro self reconfigurable robot consisting of eight modules. Modular self reconfiguring robotic systems or self reconfigurable modular robots are autonomous kinematic machines with variable morphology. A comprehensive survey of the growing field of selfreconfigurable robots that discusses the history of the field, design considerations, and control strategies. An introduction intelligent robotics and autonomous agents by kasper stoy, david brandt and david j. Generalizing metamodules to simplify planning in modular robotic systems. Moreover, an important design goal is to make it easy to experiment in simulation with new designs for. Abstract manipulation and transport of objects using mobile robotic platforms is a well studied eld with several successful approaches.

Introduction modular selfreconfiguring robotic systems or self reconfigurable modular robots are autonomous kinematic machines with variable morphology, structure, and functionality. Exoskeleton robot, graph theory, self reconfigurable holon ic robots. Index termsautonomous exploration, modular robots, multi mode locomotion, selfreconfigurable robots. Dtto modular robot selfreconfigurable modular robot. Only a few distributed algorithms for two or threedimensional systems. In this paper, a hybrid selfreconfigurable modular robot is designed, which is composed of a master module and a slave module.

Modular selfreconfigurable robots present wide and unique solutions for growing demands in the domains of space exploration, automation, consumer products, and so forth. A simple approach to the control of locomotion in self. Pdf on jan 1, 2010, k stoy and others published selfreconfigurable robots. In this paper we present rolebased control which is a general bottomup approach to the control of locomotion in self reconfigurable robots. Drawing from the recent research on modular robots e. This self reconfigurable sr robot exemplifies a new trend in robotics, indeed, we can now build various kinds of sr robots with offtheshelf technologies of processors, actuators, and sensors. Then, the docking process is analyzed with the geometric method. Design, simulation and analysis of selfreconfigurable robot. Introduction selfreconfigurable modular robotics traditionally considers systems with uniformly selfmobile modules. These robots can self assemble andor reconfigure into new body shapes, with locomotive and sensory primitives. Introduction modular selfreconfigurable robots are composed of active modules capable of rearranging their connection topology to adapt to dynamic environments, changing task settings, and.

This paper gives an chosen aspects of self reconfigurable robotics with regards to individual aspects technical, control, morphology and basic. 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. You also have a link to a pdf file detailing how many parts we need, each part n. Selfreconfigurable molecule robots as metamorphic robots. Mar 31, 2010 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. In this paper we have shown and discuss the problematic of selfreconfigurable robots. An introduction intelligent robotics and autonomous agents series. Modular self reconfigurable robots present wide and unique solutions for growing demands in the domains of space exploration, automation, consumer products, and so forth. Self reconfigurable modular robots consist of many identical modules. Modular selfreconfiguring robotic systems or selfreconfigurable modular robots are.

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. Molecule robots krvm to the metamorphic robots of pachsch. A 3d constructive assembly system with kinetic memory hayes solos raffle b. In proceedings of ieeersj 2008 international conference on intelligent robots and systems iros 08, september, 2008. Toward replicating morphogenetic movements of the embryo andrea vergara1. Design of the atron latticebased selfreconfigurable robot. Structure analysis of hybrid selfreconfigurable modular. Self reconfigurable robots are robots that are composed of a set of modules that can change their configuration. 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. 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.

Beyond conventional actuation, sensing and control typically found in fixedmorphology robots, selfreconfiguring robots are also able to deliberately change their own shape by rearranging the connectivity of their parts, in order to adapt to new. Collaborative manipulation and transport of passive pieces. Introduction the concept of a modular self reconfigurable robot is a relatively new concept that extends ideas on reconfigurable robotic manipulators, modular robots, and mobile robots. These sr robots, based on modern mechatronics, are still not as adaptable as the liquid metal. An introduction find, read and cite all the research you need on researchgate. These robots can selfassemble andor reconfigure into new body shapes, with locomotive and sensory primitives.

Madras institute of technology anna university chennai, india. Selfreconfigurable robots are robots that are composed of a set of modules that can change their configuration. One of the main motivations for the development of srmrs is that conventional. Metamorphic or selfreconfigurable robots are highly desirable in tasks. These robots are similar from a software point of view, but di. An introduction find, read and cite all the research you need on. We have developed a series of selfreconfigurable robotic. In this paper we have shown and discuss the problematic of self reconfigurable robots. This simulator, named the unied simulator for selfrecongurable robots ussr, is designed to support a wide variety of selfrecongurable robots. 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. Research on selfreconfigurable modular robot system. This paper presents examples and issues in realizing those promises. Aug 25, 2006 selfreconfigurable robots are robots that can change their shape in order to better suit their given task in their immediate environment. A novel docking system for modular selfreconfigurable robots.

164 879 1526 615 163 291 618 1136 1568 791 1004 543 144 1044 714 120 882 265 910 1054 988 86 1130 414 229 1517 623 995 1030 1408 1257 177 495 953 679 168 1161 666 132 32 559 1397 314