This is achieved through individual modules which can disconnect and reconnect to each other and assemble into a larger robot. Modular selfreconfigurable robot systems kavraki lab. The rctr can change its geometry while advancing, thus enabling it to crawl and climb over different terrains and obstacles. Related work on twodimensional robots is presented. Use features like bookmarks, note taking and highlighting while reading selfreconfigurable robots. Part v analysis and design of reconfigurable robots 46 hardware design and testing of modred. Finding an optimal solution to reconfiguration problems involves searching the space of possible robot. This shapeshifting makes it possible for the robots to adapt and optimize their shapes for different tasks. Modular selfreconfiguring robotic systems or selfreconfigurable modular robots are autonomous kinematic machines with variable morphology. An introduction find, read and cite all the research you need on. The robotic equivalent of a swiss army knife mit news.
Prototype made almost entirely of printable parts demonstrates crucial capabilities of reconfigurable robots. Duff, mark yim and kimon roufas 3333 coyote hill rd, palo alto, ca 94304 abstract modular, selfreconfigurable robots show the promise of great versatility, robustness and low cost. Design, simulation and analysis of self reconfigurable robot p. In this paper, a novel robotic system called modular transformer mtran is proposed. Universal robots rur robot in czech is a word for worker or servant definition of robot. In these researches, the hardware design of the module and the software design of the control algorithms are the central issues. Six modules can be connected to form a fourlegged structure or an open chain. Full text pdf 928k abstracts references17 growing complexity of artificial systems arises reliability and flexibility issues of large system design.
Research on selfreconfigurable modular robot system. Inspired by bruce lees famous water quote, dtto can transform into various shapes by changing the position and connection of its 3dprinted modules. The field of reconfigurable swarms of modular robots has achieved a current status of performance that allows applications in diverse fields that are characterized by human support e. As hackaday points out, each section of dtto is a doublehinged joint. 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. Related work on around fifteen such robots is presented, compared and discussed.
This report gives a chronological surve y of many of these projects, and. In this paper, we present a reconfigurable robot platform based on openr, a standard for robot entertainment systems. Selfreconfigurable robots are for the ability to change the shape of multiple cooperated robot modules that can be easily reconfigurable in the different working environment. The paper presents a modular robot, designed for reconfiguring, in order to achieve both walking and crawling motion. The selfreconfigurable robot modules atron from the hydra project. Selfreconfigurable, modular robots are distributed mechatronic devices that can change their physical shape. Selfreconfigurable robots are a long way from liquid metal t cgi terminator robots, but still, its impressive to watch a robot reassemble itself after being kicked apart. On the other hand, the latter has snakelike shape that can generate various dynamic.
The robot has selfreconfiguring skills and is able to perform creepingwalking motion. Challenges in the locomotion of selfreconfigurable. Nelson and prithviraj dasgupta 47 structures and characteristics in reconfigurable modular robots 525 b. A minimally actuated reconfigurable continuous track robot. Programming language abstractions for selfreconfigurable. Since the late 1980s, many systems of selfreconfi gurable robots have been developed.
But gershenfelds team found that a string of subunits capable of folding itself into any shape. Self reconfigurable robots an introduction pdf semantic scholar. The atron selfreconfigurable robot linkedin slideshare. Introduction modular selfreconfiguring robotic systems or self reconfigurable modular robots are autonomous kinematic machines with variable morphology, structure, and functionality. Selfreconfigurable robots are robots that can change their shape in order to better suit their given task in their immediate environment. Many effective controls of selfreconfigurable robots are inspired by existing models found in biology, including tissue regeneration, epimorphosis, morphallaxis, diffusion. Introduction to robotics nyu tandon school of engineering. Mtran is a distributed, self reconfigurable system composed of homogeneous robotic modules. Modular robot with selfreconfigurable capabilities.
These modules move in relationship to each other, which allows the robot as a whole to change shape. A survey of modular selfreconfigurable msr robots diva portal. Selfreconfigurable modular robots srmrs are assemblies of autonomous robotic units, referred to as modules, joined together using active connection mechanisms. Selfreconfigurable molecule robots as metamorphic robots. Selfreconfigurable robotic systems are potentially more adaptive than conventional systems. This paper presents examples and issues in realizing those promises. Most of the selfreconfigurable robot systems can be classified by following features summarized in table 1. Abstract self recongurable robots are capable of changing. Modular reconfigurable robots in space applications. 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. Generalizing metamodules to simplify planning in modular robotic systems. Pdf on jan 1, 2010, k stoy and others published selfreconfigurable robots. Reconfiguration occurs when the shape of the robot changes from some initial configuration to a target configuration.
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. Modular selfreconfigurable robots present wide and unique solutions for growing demands in the domains of space exploration, automation, consumer products, and so forth. The ability to reconfigure allows a robot or a group of robots to disassemble and reassemble machines to form. A modular robot can consist of a few modules or many, depending on the robot s design and the task it needs to perform. The robot is fitted with a regular propulsion motor similar to a regular track and has a locking mechanism located at the front. A comprehensive survey of the growing field of selfreconfigurable robots that discusses the history of the field, design considerations, and control strategies. Robots used for tasks in space have strict requirements. Motion planning for a selfreconfigurable robot involves coordinating the movement and connectivity of each of its homogeneous modules. Project statement design and build a selfreconfigurable modular robot moves independently able to connect to other modules able to move as a. Based on this survey, design considerations leading to a novel design for a selfreconfigurable robot, called atron, is described. Modular, selfreconfigurable robots show the promise of great versatility.
We present dynamic distributed scope as a programming language abstraction for modular robots, and show how it provides a unified abstraction for the domain. Selfreconfigurable robots are modular robots that can dynamically and intelligently reconfigure their shape and size to accomplish difficult missions. A modular self reconfigurable robot with enhanced locomotion performances. Abstract selfreconfigurable robots are robots that can change their shape in order to better suit their given task in their immediate environment. We have studied modular selfreconfigurable robots that are capable of changing their overall shape and functionality by automatic recombination. An introduction find, read and cite all the research you need on researchgate. Reconfigurable modular robots are classified into two types, lattice type 2,4,8 and thread type 6,7. 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. Reconfigurability is attained by the use of the openr standard which enables a hot plugin capability through a set of definitions for mechanical, electrical, and software interface protocols.
There are three key motivations for designing modular self reconfigurable robotic systems. 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. In this paper, we propose a selfreconfigurable modular robotic system which has advantages of both types. The modules can be massproduced to reduce cost and become exchangeable and disposable in applications. Sensor computations in modular self reconfigurable robots. We do so by composing 16 molecule robots into into a metamodule called the axes mod ule. This paper gives an chosen aspects of selfreconfigurable robotics with regards to individual aspects technical, control, morphology and. In a healthy debate on exploration strategies, some experts concluded the goals of the future would be best served by robotic spacecraft.
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. While the former can transform itself into various static structures like junglegym, it is difficult to generate dynamic robotic motions. A selfassembly or selfreconfiguration modular robot smr system is. Self reconfigurable robots are modular robots that can autonomously change their shape and size to meet specific operational. These sr robots, based on modern mechatronics, are still not as adaptable as the liquid metal. News search form reconfigurable robots search for articles. Concept of selfreconfigurable modular robotic system. This letter presents a minimally actuated reconfigurable continuous track robot rctr. Pdf a chronological survey of modular selfreconfigurable. Self reconfigurable robotic systems are potentially more adaptive than conventional systems. Pdf the field of modular selfreconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous. Some modular robots currently exist only as computer simulations.
A novel design for a selfreconfigurable robot, called octabot, is described. The main goal of the ec project replicator 1 is the development and deployment of a. 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. Through reconfiguration of their modules, selfreconfigurable robots can. The concept of dynamically selfreconfigurable robotic system was.
In proceedings of ieeersj 2008 international conference on intelligent robots and systems. Autonomous selfreconfiguration of modular robots by evolving a. This paper presents the design and implementation of a modular self reconfigurable robot with enhanced locomotion capabilities. Mathiyazhagan2 madras institute of technology anna university chennai, india abstractthis paper presents a hybrid robot that achieves locomotion through legs and wheels. Productsservices for self reconfigurable robots robots 741 companies how to select industrial robots industrial robots are programmable manipulators that contain rotary andor prismatic joints in order to perform precise, repetitive movements. Development of distributed control algorithms for selfreconfigurable robot systems is a challenging issue. An entry in this years hackaday prize, dtto is a snakelike robot designed to be modular and selfreconfigurable. By changing the connectivity of these modules, srmrs are able to deliberately change their own shape in order to adapt to new environmental circumstances. A distributed control is accomplished, each module having. Selfreconfigurable robots are constructed of robotic modules that can be connected in many different ways. 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.
Compared with conventional robotic systems, selfreconfigurable robots are potentially more robust and more adaptable under changing environments. Hierarchical motion planning for selfreconfigurable. Design of the atron latticebased selfreconfigurable robot. This project investigated the design, control, and planning issues for selfconfiguring and selforganizing robots. Other researchers, including some at mit, have explored the idea of fashioning reconfigurable robots from a batch of separate pieces that could selfassemble into different configurations an approach sometimes called programmable pebbles. The ability to reconfigure allows a robot or a group of robots to disassemble and reassemble machines to. Emulating self recongurable robots design of the smores system jay davey 1, ngai kwok 1, and mark yim 2 1 school of mechanical and manufacturing engineering, university of new south wales, sydney, australia 2 grasp lab. Robots are not exception of this, and many attempts have been made to realize reliable and flexible robot systems. Modular robots are made of lots of these small, identical modules. 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. Only a few distributed algorithms for two or threedimensional systems. 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.
Modular reconfigurable robots have a variety of attributes that are well suited to these conditions, including. 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 are metamorphic systems that can autonomously change their logical or physical configurations such as shapes, sizes, or. In this paper we have shown and discuss the problematic of selfreconfigurable robots.
560 48 1041 1295 1313 809 854 310 508 1619 699 803 373 819 1371 858 1360 1409 349 706 967 1617 1407 1118 524 902 442 766 248 696 1511 1133 730 77 1625 505 714 1118 857 1357 142 1163 857 963