Madras institute of technology anna university chennai, india. Modular selfreconfiguring robotic systems or selfreconfigurable modular robots are autonomous kinematic machines with variable morphology. Pdf on jan 1, 2010, k stoy and others published selfreconfigurable robots. An introduction intelligent robotics and autonomous. Design and implementation of a modular selfreconfigurable robot. We present dynamic distributed scope as a programming language abstraction for modular robots, and show how it provides a unified abstraction for the domain. A comprehensive survey of the growing field of selfreconfigurable robots that. Abstractthis paper presents a hybrid robot that achieves locomotion through legs and wheels. We have studied modular selfreconfigurable robots that are capable of changing their.
Self reconfiguring modular robot linkedin slideshare. A selfreconfigurable robot is a cellular robot capable of adapting its shape and functions to changing environments and demands. Selfreconfigurable robots focuses on conveying the intuition behind the design and control of selfreconfigurable robots rather than technical details. A hardwaresoftware architecture for the control of self. Modular selfreconfigurable robot msrr systems are composed of repeated robot elements called modules that connect together to form larger robotic structures and can selfreconfigure, changing the connective arrangement of their own modules to form different structures with different capabilities. An introduction intelligent robotics and autonomous agents by kasper stoy, david brandt and david j. Project statement design and build a selfreconfigurable modular robot moves independently able to connect to other modules able to move as a. Modular, selfreconfigurable robots show the promise of great versatility, robustness and low cost. 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. A comprehensive survey of the growing field of selfreconfigurable robots that discusses the history of the field, design considerations, and control strategies. Its basic component is a robotic module capable of computation. Selfreconfigurable 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. Selfreconfigurable robots are robots that are composed of a set of.
Hinmansweeney, john feddema, and steven eskridge prepared by sandia national laboratories albuquerque, new mexico 87185 and livermore, california 94550 sandia is a multiprogram laboratory. Christensen a comprehensive survey of the growing field of selfreconfigurable robots that discusses the history of the field, design considerations, and control strategies. Existing selfreconfigurable robots achieve connections and disconnections by a separate drive of the docking system. Modular selfreconfigurable robots present wide and unique solutions for growing demands in the domains of space exploration, automation, consumer products, and so forth. Selfreconfigurable, modular robots are distributed mechatronic devices that can change their physical shape. Introduction modular selfreconfiguring robotic systems or self reconfigurable modular robots are autonomous kinematic machines with variable morphology, structure, and functionality.
In these researches, the hardware design of the module and the software design of the control algorithms are the central issues. Moreover, an important design goal is to make it easy to experiment in simulation with new designs for. Introduction recon gurable robots are robots made from a possibly large number of independent modules that are connected to form a robot. This is achieved through individual modules which can disconnect and reconnect to each other and assemble into a larger robot. This site is like a library, use search box in the widget to get ebook that you want. Only a few distributed algorithms for two or threedimensional systems. Development of distributed control algorithms for selfreconfigurable robot systems is a challenging issue. Selfreconfigurable modular robots adaptively transforming a mechanical structure. An integrated system for perceptiondriven autonomy with. These modules move in relationship to each other, which allows the robot as a whole to change shape. A flexible pinholebased docking mechanism is designed for selfassembly. Selfreconfigurable modular robot that has been developed by aist and tokyotech since 1998. Introduction to autonomous robots download ebook pdf. 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.
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. 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. Selfassembly in space via selfreconfigurable robots. The inclusion of passive joints can offer benefits not only on cost but also on functionality. Dtto modular robot selfreconfigurable modular robot. Focus of future research will be on motion coordination for self reconfigurable robots that is accurately controllable, so that it could map and utilize all information obtained from sensors regarding the obsta cles and environment. Programming language abstractions for selfreconfigurable. Suggestions for further reading refer readers to the underlying sources of technical information. Introduction to construction robotics and the bricklaying. Introduction the demand and impact of compact, versatile and intelligent mobile robots have been on a steady rise for which active research is pursued 15. This paper presents the design and implementation of a new modular selfreconfigurable robot.
The higher utilization factor and selfhealing capabilities are most demanded traits in robotics for real world applications and modular robotics offer better solutions in. Design and implementation of a modular selfreconfigurable. Selfreconfigurable robot sytems composed of homogeneous or heterogeneous modules have an ability to configure their shapes and repair them by changing connecting. Use features like bookmarks, note taking and highlighting while reading selfreconfigurable robots. This selfreconfiguring robot consists of a set of identical modules that can. The book is the first of its kind, and it brings together much of the research related to selfreconfigurable robots that has taken place over the past two decades in a single, coherent. Modular selfreconfigurable msr robots consist of many identical modules that can move, attach, and detach relative to each other, thereby changing the robot s overall shape. Ppt robotics powerpoint presentation free to download. 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. This project investigated the design, control, and planning issues for selfconfiguring and selforganizing robots. 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.
Selfreconfigurable modular robots adaptively transforming. This paper gives an chosen aspects of selfreconfigurable robotics with regards to individual aspects technical, control, morphology and basic. A novel docking system for modular selfreconfigurable robots. Selfreconfigurable robots are modular robots that can autonomously change their shape and size. Selfreconfigurable robots are constructed of robotic modules that can be connected in many different ways. While the system has the promise of being capable of doing a wide variety of tasks, finding the killer application has been somewhat elusive. 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. This chapter presents general design techniques for the distributed multiagent control algorithms of msr robots, based on local rules. Current trends in reconfigurable modular robots design. Selfreconfigurable robots are modular robots that can autonomously change. 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. Reconfigurability refers to the property of a system to be configured in different ways, without considering the means of reconfiguration.
Before treating selfreconfigurable robots, it is perhaps illuminating to give a result for the much simpler case of point masses. In proceedings of ieeersj 2008 international conference on intelligent robots and systems iros 08, september, 2008. This paper presents examples and issues in realizing those promises. Inspired by this, an underactuated selfreconfigurable robot was designed with passive joints and active joints. Pdf download an introduction to ai robotics intelligent robotics and autonomous agents download. If the modules from which the recon gurable robot is built are able to connect and disconnect without human intervention the robot is a selfrecon gurable robot. Introduction modular selfreconfigurable robots are composed of active modules capable of. Selfreconfigurable robots are modular robots that can dynamically and intelligently reconfigure their shape and size to accomplish difficult missions. For example, planning for selfreconfiguration of a modular robot is proved to be. This simulator, named the unied simulator for selfrecongurable robots ussr, is designed to support a wide variety of selfrecongurable robots. Self reconfigurable robots an introduction pdf semantic scholar. Application areas given these advantages, where would a modular selfreconfigurable system be used. Mobile robots are used to access places and execute tasks that are considered hazardous or unsafe to engage the human element. This paper presents an approach to selfassembly in space by developing 1 a novel design for intelligent and reconfigurable components.
Users may download and print one copy of any publication from the public portal for the purpose of private study or research. Selfreconfigurable robots have robotic modules that can change their local connec. An introduction intelligent robotics and autonomous agents series. An introduction find, read and cite all the research you need on researchgate.
The fixed mobile robots not become accustomed themselves to the environmental changes. Researchers at the dartmouth robotics laboratory have developed a module capable of reconfiguring at a large scale. In this paper we have shown and discuss the problematic of selfreconfigurable robots. This paper presents the design and implementation of a new modular self reconfigurable robot. This is an illustrated guide on how to assembly a module v2 for the dtto modular robot. Design, simulation and analysis of selfreconfigurable robot. Click download or read online button to get introduction to autonomous robots book now. Generalizing metamodules to simplify planning in modular robotic systems.
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