Modularized software for multi-modular self-reconfigurable robotics

2013 ◽  
Author(s):  
Rene Matthias ◽  
Andreas Bihlmaier ◽  
Heinz Worn
Keyword(s):  
Reconfigurable Robotics

Assembly and disassembly of magnetic mobile micro-robots towards deterministic 2-D reconfigurable micro-systems

2011 ◽  
Vol 30 (14) ◽  
pp. 1667-1680 ◽  
Author(s):  
Eric Diller ◽  
Chytra Pawashe ◽  
Steven Floyd ◽  
Metin Sitti
Keyword(s):  
Magnetic Fields ◽  
External Field ◽  
Permanent Magnet ◽  
Magnetic Attraction ◽  
External Sources ◽  
Scaling Down ◽  
Micro Systems ◽  
Reconfigurable Robotics

A primary challenge in the field of reconfigurable robotics is scaling down the size of individual robotic modules. We present a novel set of permanent magnet modules that are under 1 mm in all dimensions, called Mag-µMods, for use in a reconfigurable micro-system. The modules are actuated by oscillating external magnetic fields of several mT in strength, and are capable of locomoting on a 2-D surface. Multiple modules are controlled by using an electrostatic anchoring surface, which can selectively prevent specific modules from being driven by the external field while allowing others to move freely. We address the challenges of both assembling and disassembling two modules. Assembly is performed by bringing two modules sufficiently close that their magnetic attraction causes them to combine. Disassembly is performed by electrostatically anchoring one module to the surface, and applying magnetic torques from external sources to separate the unanchored module.

The Chosen Aspects of Self-Reconfigurable Robots

2014 ◽  
Vol 613 ◽  
pp. 279-285
Author(s):  
Marek Vagaš ◽  
Vladimír Baláž ◽  
Ján Semjon ◽  
Lucia Koukolová
Keyword(s):  
Modular Robots ◽  
Reconfigurable Robots ◽  
Technical Control ◽  
Shape And Size ◽  
Reconfigurable Robotics

In this paper we have shown and discuss the problematic of self-reconfigurable robots. Self-reconfigurable robots are modular robots that can dynamically and intelligently reconfigure their shape and size to accomplish difficult missions. This paper gives an chosen aspects of self-reconfigurable robotics with regards to individual aspects (technical, control, morphology) and basic consideration to the description of some individuality at this area.

MORPHbots: Lightweight Modular Self-Reconfigurable Robotics for Space Assembly, Inspection, and Servicing

Space 2006 ◽  
2006 ◽  
Author(s):  
David Akin ◽  
Brian Roberts ◽  
Steven Roderick ◽  
Walter Smith ◽  
Jean-Marc Henriette
Keyword(s):  
Reconfigurable Robotics

Towards Application of Collective Robotics in Industrial Environment

2010 ◽  
pp. 18-49 ◽  
Author(s):  
Serge Kernbach
Keyword(s):  
Self Organization ◽  
Reconfigurable Systems ◽  
Multiple Robots ◽  
Industrial Environment ◽  
Collective Robotics ◽  
Significant Area ◽  
Economic Considerations ◽  
Difficult Issue ◽  
Self Organizing ◽  
Reconfigurable Robotics

The chapter is concerned with a significant area of modern robotics, i.e. multiple robots working as one group, team, swarm or organism. The notion of taxonomy is introduced and an overview of cooperative, networked, swarm and nano-robotics is given. The chapter also analyzes reconfigurable robotics as a tool for improving granularity and adaptive functionality. The development of symbiotic self-reconfigurable systems is discussed and a survey of artificial self-organization is provided. Advantages provided by robots working in collective ways are demonstrated, such as: advanced flexibility and adaptivity; possibilities to evolve behaviours, functions and structures; extended reliability of swarm and symbiotic systems; economic considerations related to agility of enterprises. Finally, emphasis is given paid to a more “difficult issue” which artificial self-organization. It is indicated that technical collective systems may have self-organizing phenomena, despite the fact that they are artificially designed.

A review of coupling mechanism designs for modular reconfigurable robots

Robotica ◽  
2018 ◽  
Vol 37 (2) ◽  
pp. 378-403 ◽  
Author(s):  
Wael Saab ◽  
Peter Racioppo ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Robotic Systems ◽  
Coupling Mechanism ◽  
Crucial Importance ◽  
Uncertain Environments ◽  
Reconfigurable Robots ◽  
Starting Point ◽  
Challenges And Opportunities ◽  
Robotic Platforms ◽  
Coupling Mechanisms ◽  
Reconfigurable Robotics

SUMMARYWith the increasing demands for versatile robotic platforms capable of performing a variety of tasks in diverse and uncertain environments, the needs for adaptable robotic structures have been on the rise. These requirements have led to the development of modular reconfigurable robotic systems that are composed of a numerous self-sufficient modules. Each module is capable of establishing rigid connections between multiple modules to form new structures that enable new functionalities. This allows the system to adapt to unknown tasks and environments. In such structures, coupling between modules is of crucial importance to the overall functionality of the system. Over the last two decades, researchers in the field of modular reconfigurable robotics have developed novel coupling mechanisms intended to establish rigid and robust connections, while enhancing system autonomy and reconfigurability. In this paper, we review research contributions related to robotic coupling mechanism designs, with the aim of outlining current progress and identifying key challenges and opportunities that lay ahead. By presenting notable design approaches to coupling mechanisms and the most relevant efforts at addressing the challenges of sensorization, misalignment tolerance, and autonomous reconfiguration, we hope to provide a useful starting point for further research into the field of modular reconfigurable robotics and other applications of robotic coupling.

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