Modular Robots
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Modular Robots Theory And Practice
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Author : Guilin Yang
language : en
Publisher: Springer Nature
Release Date : 2021-08-30
Modular Robots Theory And Practice written by Guilin Yang and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-08-30 with Technology & Engineering categories.
This book introduces the latest advances in modular robotics, and presents a unified geometric framework for modeling, analysis, and design of modular robots, including kinematics, dynamics, calibration, and configuration optimization. Supplementing the main content with a wealth of illustrations, the book offers a valuable guide for researchers, engineers and graduate students in the fields of mechatronics, robotics, and automation who wish to learn about the theory and practice of modular robots.
Remotely Operating Reconfigurable Modular Robots With Handheld Smart Devices
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Author : Nalaka Kanishka Bandara Kahawatte
language : en
Publisher:
Release Date : 2011
Remotely Operating Reconfigurable Modular Robots With Handheld Smart Devices written by Nalaka Kanishka Bandara Kahawatte and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011 with categories.
Highly reconfigurable modular robots face unique teleoperation challenges due to their geometry, configurability, high number of degrees of freedom and complexity. Current methodology typically uses gait tables to control modular robots and a typical remote controller used to control mobile robots involves joysticks. However, these traditional methods of robot teleoperation are not suitable for reconfigurable modular robotic systems which may have dozens of controllable degrees of freedom. This research shows that modern cell phones serve as highly effective control platforms for modular robots because of their programmability, flexibility, wireless communication capabilities, and increased processing power. As a result of this research, a novel teleoperating method based on pose programming as well as a versatile Graphical User Interface, a set of libraries and tools have been developed, which even a novice robotics enthusiast can use to easily program their mobile phones to control their hobby project. These libraries will be beneficial in any situation where it is effective for the operator to use an off-the-shelf, relatively inexpensive, hand-held mobile phone as a remote controller rather than considerably heavy and bulky remote controllers which are popular today. Several usage examples and experiments are presented which demonstrate the controller's ability to effectively control a modular robot to perform a series of complex gaits and poses, as well as navigating a module through a simple course.
In Place Reconfiguration Of Lattice Based Modular Robots
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Author : Joel Moreno Vàzquez
language : en
Publisher:
Release Date : 2019
In Place Reconfiguration Of Lattice Based Modular Robots written by Joel Moreno Vàzquez and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019 with categories.
In the 1970s the concept of modular robots appeared in the field of robotics. This consists of robot systems formed by several connected modules which can have different functionalities. These robots can also change their shape by relocating their modules.\newline Modular robots can be of many types: lattice based, chain based or a mix of both. In addition their modules can be of many different shapes. When relocating, different modules use different movements: compressing, pivoting or sliding. Due to these many differences and the ability to change their shape, modular robots have a large range of possibilities and critical abilities such as adaptability or the ability to undertake many different jobs.\newline Reshaping is one of the most important features of modular robots but it also is were most of the computing issues arise. To reshape, modular robots can apply many different approaches: self-reconfigurating, self-assembling or disassembling, grasping, enveloping, etc. In this project we focus on self-reconfiguration.\newline The goal of this project is to design and develop a centralized reconfiguration algorithm for square-shaped lattice-based modular robots whose modules move by sliding, which reconfigures a certain configuration C into C' with the same amount of modules. This reconfiguration process can be divided in three different parts. First of all, reconfiguring C into Rc, which is the resulting configuration from flooding the bounding box of C from bottom to top and from left to right with the same number of modules. After that, we need to reconfigure Rc into Rc', the resulting configuration from flooding the bounding box of C'. Lastly, we have to reconfigure Rc' into C'. Since the second step is a trivial reconfiguration problem and the third step is the inversion of the first one, in this project we focused only in the first step.\newline In this project the cost of the algorithm has been analyzed in both a theoretical and a practical way. If n is the size of the input grid and m is the number of modules of the robot, the computation cost of the algorithm is O(n) and the total number of moves of the modules of the robot is O(m̂2). This bound is tight.\newline In the practical experiments we ran the algorithm with many inputs of different sizes and with distinct structures. The results showed that the closer m was to n, the larger was the execution time. However, when nesting all the movable modules in the depths of the pseudo-holes' hierarchies the greater was the number of steps the reconfiguration had to make.
Robotics Products Database
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Author :
language : en
Publisher:
Release Date : 1990
Robotics Products Database written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1990 with Robot industry categories.
Planning For Modular Robots
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Author : Anna Gorbenko
language : de
Publisher: LAP Lambert Academic Publishing
Release Date : 2012-04
Planning For Modular Robots written by Anna Gorbenko and has been published by LAP Lambert Academic Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-04 with categories.
Modular reconfigurable robots were intensively studied. In particular, problems of planning of self-reconfiguration received considerable attention. Problems of reconfiguration planning play a central role for modular reconfigurable robots. Solutions for such problems lies at the heart of any control system of modular reconfigurable robots. Performance of such solutions is the base factor for the performance of the whole control system of modular reconfigurable robot. Recently, the optimal reconfiguration planning problem of finding the least number of reconfiguration steps to transform between two configurations for chain-type modular robots was introduced. It is preferred that the robot keeps connected throughout the reconfiguration process. Respectively, in this book we suppose that the robot keeps connected throughout the reconfiguration process. We describe an approach to solve the problem. Our approach is based on constructing logical models for considered problem. Also we consider genetic and local search algorithms for the problem. The book should be especially useful to professionals in modular robotics.
Robots And Lattice Automata
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Author : Georgios Ch. Sirakoulis
language : en
Publisher: Springer
Release Date : 2014-10-11
Robots And Lattice Automata written by Georgios Ch. Sirakoulis and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-10-11 with Technology & Engineering categories.
The book gives a comprehensive overview of the state-of-the-art research and engineering in theory and application of Lattice Automata in design and control of autonomous Robots. Automata and robots share the same notional meaning. Automata (originated from the latinization of the Greek word “αυτόματον”) as self-operating autonomous machines invented from ancient years can be easily considered the first steps of robotic-like efforts. Automata are mathematical models of Robots and also they are integral parts of robotic control systems. A Lattice Automaton is a regular array or a collective of finite state machines, or automata. The Automata update their states by the same rules depending on states of their immediate neighbours. In the context of this book, Lattice Automata are used in developing modular reconfigurable robotic systems, path planning and map exploration for robots, as robot controllers, synchronisation of robot collectives, robot vision, parallel robotic actuators. All chapters are written in an accessible manner and lavishly illustrated. The book will help computer and robotic scientists and engineers to understand mechanisms of decentralised functioning of robotic collectives and to design future and emergent reconfigurable, parallel and distributed robotic systems.
Robotics Product Database
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Author :
language : en
Publisher:
Release Date : 1988
Robotics Product Database written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1988 with Robot industry categories.
Modular Robots For Self Constructing Building Systems
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Author : A Scott Howe
language : en
Publisher: Open Dissertation Press
Release Date : 2017-01-27
Modular Robots For Self Constructing Building Systems written by A Scott Howe and has been published by Open Dissertation Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-01-27 with categories.
This dissertation, "Modular Robots for Self-constructing Building Systems" by A Scott, Howe, was obtained from The University of Hong Kong (Pokfulam, Hong Kong) and is being sold pursuant to Creative Commons: Attribution 3.0 Hong Kong License. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation. All rights not granted by the above license are retained by the author. Abstract: ABSTRACT This thesis adapts modular object-oriented generality and flexibility to the entire production process of buildings and structures by redefining all of the building components as robots that participate in their own assembly. The methodologies followed in the investigation include mathematical models, simulations, and physical mechanisms for exploring geometry, kinematics, material handling, mobility, hierarchy, interface, and enclosure of proposed modular robotic construction frameworks. The motivation for this research was to find construction solutions for structures and habitats proposed for extreme environments in space and on remote planetary surfaces, where labor costs and lack of a safe work environment encourage the use of automation. The advantages of applying modular robotics technology to the construction of buildings are discussed, including the elimination of specialized construction tools and heavy lifting equipment, effective material handling, construction in extreme and hazardous environments, and the capacity for reconfiguration on demand. Investigation methods include geometry models for rigorous parametric optimal sizing of modules, forward and inverse kinematic algorithms, simulation of hierarchical behavior between multiple modules, applied mechanism design, applied module design, and algorithms for assembly of basic structures, with proposed schemes for reconfiguration into alternative structures. The results examined include concepts for three geometries of modular construction robots that coincide with categories of building structure (linear element, planar element, and solid element). The study elaborates on a panel-based (planar element) framework that establishes a known environment within itself for ease of navigation, facilitates material handling, creates its own mobility, and generates valid hierarchical structure. This work is significant because it combines modular approaches from both the fields of building construction and robotics, and demonstrates how a variety of flexible structure configurations can be built without specialized construction equipment or human labor i (which will be particularly useful in extreme or hazardous environments). Of further significance is the demonstration that material handling and mobility can be achieved within the same modular framework that defines the structural enclosure, so that the advantages are not limited to the construction of fixed structures but can also be applied to the design and assembly of mobile structures and vehicles. ii DOI: 10.5353/th_b3900518 Subjects: Robots, Industrial Construction industry - Automation
Self Reconfigurable Robots
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Author : Kasper Stoy
language : en
Publisher:
Release Date : 2010
Self Reconfigurable Robots written by Kasper Stoy and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with Psychology categories.
A comprehensive survey of the growing field of self-reconfigurable robots that discusses the history of the field, design considerations, and control strategies. Self-reconfigurable robots are constructed of robotic modules that can be connected in many different ways. These modules move in relationship to each other, which allows the robot as a whole to change shape. This shapeshifting makes it possible for the robots to adapt and optimize their shapes for different tasks. Thus, a self-reconfigurable robot can first assume the shape of a rolling track to cover distance quickly, then the shape of a snake to explore a narrow space, and finally the shape of a hexapod to carry an artifact back to the starting point. 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 the field. Self-Reconfigurable Robots focuses on conveying the intuition behind the design and control of self-reconfigurable robots rather than technical details. Suggestions for further reading refer readers to the underlying sources of technical information. The book includes descriptions of existing robots and a brief history of the field; discussion of module design considerations, including module geometry, connector design, and computing and communication infrastructure; an in-depth presentation of strategies for controlling self-reconfiguration and locomotion; and exploration of future research challenges.
Handbook Of Industrial Robotics
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Author : Shimon Y. Nof
language : en
Publisher: Krieger Publishing Company
Release Date : 1992
Handbook Of Industrial Robotics written by Shimon Y. Nof and has been published by Krieger Publishing Company this book supported file pdf, txt, epub, kindle and other format this book has been release on 1992 with Computers categories.
120 leading experts from twelve countries have participated in creating this Second Edition of the Handbook of Industrial Robotics. Of its 66 chapters, 33 are new, covering important new topics in the theory, design, control, and applications of robotics. Other key features include a larger glossary of robotics terminology with over 800 terms and a CD-ROM that vividly conveys the colorful motions and intelligence of robotics. With contributions from the most prominent names in robotics worldwide, the Handbook remains the essential resource on all aspects of this complex subject.