Self Reconfigurable Robots

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Self Reconfigurable Robots

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.

Self Reconfigurable Robots For Adaptive And Multifunctional Tasks

Self Reconfigurable Robots For Adaptive And Multifunctional Tasks written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with categories.

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. Because of their modularity, versatility, self-healing ability and low cost reproducibility, such robots provide a flexible approach for achieving complex tasks in unstructured and dynamic environments. This paper gives an overview of an existing self-reconfigurable robot called SuperBot, and describes its control method for diverse behaviors, its self-reconfigurable connectors, and some experimental results for adaptive and multifunctional tasks for Army applications.

Conro Self Reconfigurable Robots

Conro Self Reconfigurable Robots written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003 with categories.

The goal of the CONRO Project was to develop a miniature reconfigurable robot that can be tasked to perform reconnaissance and search and identification tasks in urban, seashore and other field environments. CONRO was made from small and identical modules that can be programmed to alter their topological connections and form different configurations in order to respond to environmental challenges such as obstacles and unexpected situations. A total of 20 CONRO modules were built. Each CONRO module has two batteries, one micro-controller, two servos, four docking connectors, and four sets of infrared sensors and emitters for communication and docking guidance. Some modules also have micro-camera, tilt and touch sensors, and wireless communications. These modules can be configured into snakes, centipedes, caterpillars, rolling tracks, etc., and all configurations are capable of locomotion. Current top speed of the robot is 0.6-1.0 mph and is improving continuously. Novel control software systems for self-reconfigurable robots have also been developed. The CONRO robots can perform many metamorphic actions not reported previously in robotics literature. In certain configurations, CONRO can also complete reconfigurations without any human interventions. A CONRO sidewinder robot can also move over rough terrain such as pebbles or small obstacles.

Self Reconfigurable Robots

Self Reconfigurable Robots written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2002 with categories.

A distributed reconfigurable micro-robotic system is a collection of unlimited numbers of distributed small, homogeneous robots designed to autonomously organize and reorganize in order to achieve mission-specified geometric shapes and functions. This project investigated the design, control, and planning issues for self-configuring and self-organizing robots. In the 2D space a system consisting of two robots was prototyped and successfully displayed automatic docking/undocking to operate dependently or independently. Additional modules were constructed to display the usefulness of a self-configuring system in various situations. In 3D a self-reconfiguring robot system of 4 identical modules was built. Each module connects to its neighbors using rotating actuators. An individual component can move in three dimensions on its neighbors. We have also built a self-reconfiguring robot system consisting of 9-module Crystalline Robot. Each module in this robot is actuated by expansion/contraction. The system is fully distributed, has local communication (to neighbors) capabilities and it has global sensing capabilities.

M Blocks

M Blocks written by John William Romanishin and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018 with categories.

This thesis details the development of the 3D M-Blocks modular robot system. 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 modules in order to form different configurations. The 3D M-Blocks is a new system which attempts to investigate the feasibility of using inertial actuation from reaction wheels in order to pivot modules on a 3D lattice. Many existing systems described in related literature are able to exhibit reconfiguration, but usually these systems are only able to do so under limited circumstances, e.g. they only work in 2 dimensions or in the absence of gravity. The 3D M-blocks is one of the only systems which is able to move modules according to a general lattice movement model in full three dimensional space under the effects of gravity. The 3D M-Blocks rotate relative to one another through the use of temporary magnetic hinges, and form bonds with each other through the use of permanent magnets. Rules describing the movement framework under which the modules move, called the Pivoting Cube Model (PCM), are discussed in depth. Each 50 mm 3D M-Block module contains all of the components necessary to operate autonomously and communicate over WiFi. Each module contains a cubic frame which supports the rotation and magnetic bonding with neighbors, and which holds the core robot assembly, including an inertial actuator and electronics. The inertial actuator is a reaction wheel with a fast acting band brake which is used to generate pulses of torque sufficient to induce lattice pivoting motions. Experiments characterizing the performance of the inertial actuator and the magnetic hinges are described. Additionally, experiments validating individual lattice movements demonstrate the feasibility of this approach to general 3D reconfiguration. Experiments describing modules modules individually and as groups are also presented.

Self Reconfigurable Robots

Self Reconfigurable Robots written by Wei-Min Shen and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2002 with categories.

Control Of Self Reconfigurable Robot Teams For Sensor Placement

Control Of Self Reconfigurable Robot Teams For Sensor Placement written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with categories.

Control of Self-Reconfigurable Robot teams for sensor placement.

Elements Of Autonomous Self Reconfigurable Robots

Elements Of Autonomous Self Reconfigurable Robots written by David Johan Christensen and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with categories.

Reconfiguation Planning For Modular Self Reconfigurable Robots

Reconfiguation Planning For Modular Self Reconfigurable Robots written by Aranzazu Casel and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2001 with Robots categories.

On Centralized And Decentralized Control Of Self Reconfigurable Robots

On Centralized And Decentralized Control Of Self Reconfigurable Robots written by David Brandt and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005 with categories.