Optimal Distribution of Active Modules in Reconfiguration Planning of Modular Robots

2018 ◽  
Vol 11 (1) ◽  
Author(s):  
Meibao Yao ◽  
Xueming Xiao ◽  
Christoph H. Belke ◽  
Hutao Cui ◽  
Jamie Paik
Keyword(s):  
Heuristic Algorithms ◽  
Robotic Systems ◽  
Modular Robots ◽  
Optimal Distribution ◽  
Distribution Problem ◽  
Modular Architecture ◽  
Modular Units ◽  
Minimum Number ◽  
Reconfiguration Planning ◽  
Reduced Time

Reconfigurability in versatile systems of modular robots is achieved by appropriately actuating individual modular units. Optimizing the distribution of active and passive modules in modular architecture can significantly reduce both cost and energy of a reconfiguration task. This paper presents a methodology for planning this distribution in modular robots, resulting in a minimum number of active modules that guarantees the capability to reconfigure. We discuss the optimal distribution problem in layout-based and target-based planning schemes such that modular robots can instantly respond to reconfiguration commands with either an initial planar layout or a target configuration as input. We propose heuristic algorithms as solutions for the different scenarios, which we demonstrate by applying them to Mori, a modular origami robot, in simulation. The results show that our algorithms yield high-quality distribution schemes in reduced time, and are thus viable for real-time applications in modular robotic systems.

scholarly journals A reconfiguration strategy for modular robots using origami folding

2018 ◽  
Vol 38 (1) ◽  
pp. 73-89 ◽  
Author(s):  
Meibao Yao ◽  
Christoph H. Belke ◽  
Hutao Cui ◽  
Jamie Paik
Keyword(s):  
Heuristic Algorithm ◽  
Minimum Energy ◽  
Computational Time ◽  
Modular Robots ◽  
Automatic Modeling ◽  
Minimum Energy Consumption ◽  
Modular Units ◽  
Optimal Reconfiguration ◽  
Algorithmic Framework ◽  
Modeling Algorithm

Reconfigurability in versatile systems of modular robots is achieved by changing the morphology of the overall structure as well as by connecting and disconnecting modules. Recurrent connectivity changes can cause misalignment that leads to mechanical failure of the system. This paper presents a new approach to reconfiguration, inspired by the art of origami, that eliminates connectivity changes during transformation. Our method consists of an energy-optimal reconfiguration planner that generates an initial 2D assembly pattern and an actuation sequence of the modular units, both resulting in minimum energy consumption. The algorithmic framework includes two approaches, an automatic modeling algorithm as well as a heuristic algorithm. We further demonstrate the effectiveness of our method by applying the algorithms to Mori, a modular origami robot, in simulation. Our results show that the heuristic algorithm yields reconfiguration schemes with high quality, compared with the automatic modeling algorithm, simultaneously saving a considerable amount of computational time and effort.

Controlling Modular Reconfigurable Robots With Handheld Smart Devices

2011 ◽  
Author(s):  
David Ko ◽  
Nalaka Kahawatte ◽  
Harry H. Cheng
Keyword(s):  
Graphical User Interface ◽  
Degrees Of Freedom ◽  
Robotic Systems ◽  
Effective Control ◽  
Smart Devices ◽  
Modular Robots ◽  
Reconfigurable Robots ◽  
Processing Power ◽  
Static Data ◽  
Remote Controller

Highly reconfigurable modular robots face unique teleoperation challenges due to their geometry, configurability, high number of degrees of freedom and complexity. Current methodology for controlling reconfigurable modular robots typically use gait tables to control the modules. Gait tables are static data structures and do not readily support realtime teleoperation. Teleoperation techniques for traditional wheeled, flying, or submerged robots typically use a set of joysticks to control the robots. 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 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 a 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 an obstacle course.

Autonomous Docking of Hybrid-Wheeled Modular Robots with an Integrated Active Genderless Docking Mechanism

2021 ◽  
pp. 1-36
Author(s):  
Shubhdildeep S. Sohal ◽  
Bijo Sebastian ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Visual Servoing ◽  
Mechanical Design ◽  
Low Cost ◽  
Image Plane ◽  
Robotic Systems ◽  
Modular Robots ◽  
Tracking Accuracy ◽  
Drive Mechanism ◽  
Docking Mechanism ◽  
Autonomous Docking

Abstract This paper presents a self-reconfigurable modular robot with an integrated 2-DOF active docking mechanism. Active docking in modular robotic systems has received a lot of interest recently as it allows small versatile robotic systems to coalesce and achieve the structural benefits of large systems. This feature enables reconfigurable modular robotic systems to bridge the gap between small agile systems and larger robotic systems. The proposed self-reconfigurable mobile robot design exhibits dual mobility using a tracked drive mechanism for longitudinal locomotion and a wheeled drive mechanism for lateral locomotion. The 2-DOF docking interface allows for efficient docking while tolerating misalignments. To aid autonomous docking, visual marker-based tracking is used to detect and re-position the source robot relative to the target robot. The tracked features are then used in Image-Based Visual Servoing to bring the robots close enough for the docking procedure. The hybrid-tracking algorithm allows eliminating external pixelated noise in the image plane resulting in higher tracking accuracy along with faster frame update on a low-cost onboard computational device. This paper presents the overall mechanical design and the integration details of the modular robotic module with the docking mechanism. An overview of the autonomous tracking and docking algorithm is presented along-with a proof-of-concept real world demonstration of the autonomous docking and self-reconfigurability. Experimental results to validate the robustness of the proposed tracking method, as well as the reliability of the autonomous docking procedure, are also presented.

scholarly journals Smart and Modular

2011 ◽  
Vol 133 (09) ◽  
pp. 48-51
Author(s):  
Harry H. Cheng ◽  
Graham Ryland ◽  
David Ko ◽  
Kevin Gucwa ◽  
Stephen Nestinger
Keyword(s):  
Degrees Of Freedom ◽  
Robotic System ◽  
Search And Rescue ◽  
Degree Of Freedom ◽  
Robotic Systems ◽  
Modular Robots ◽  
Modular Robot ◽  
Modular Systems ◽  
The Past ◽  
Three Degrees Of Freedom

This article discusses the advantages of a modular robot that can reassemble itself for different tasks. Modular robots are composed of multiple, linked modules. Although individual modules can move on their own, the greatest advantage of modular systems is their structural reconfigurability. Modules can be combined and assembled to form configurations for specific tasks and then reassembled to suit other tasks. Modular robotic systems are also very well suited for dynamic and unpredictable application areas such as search and rescue operations. Modular robots can be reconfigured to suit various situations. Quite a number of modular robotic system prototypes have been developed and studied in the past, each containing unique geometries and capabilities. In some systems, a module only has one degree of freedom. In order to exhibit practical functionality, multiple interconnected modules are required. Other modular robotic systems use more complicated modules with two or three degrees of freedom. However, in most of these systems, a single module is incapable of certain fundamental locomotive behaviors, such as turning.

scholarly journals Using the Hopfield Neural Network to Select a Behaviour Strategy for the Group of Mobile Robots

2021 ◽  
Vol 2096 (1) ◽  
pp. 012086
Author(s):  
O V Darintsev ◽  
A B Migranov
Keyword(s):  
Neural Network ◽  
Mobile Robots ◽  
Original Problem ◽  
Heuristic Algorithms ◽  
Hopfield Neural Network ◽  
Graph Representation ◽  
Distribution Problem ◽  
Problem Statement ◽  
Working Space ◽  
Task Distribution

Abstract The use of the Hopfield neural network for the task distribution problem solving in teams of mobile robots performing monosyllabic operations in a single workspace is considered. The study is a continuation of earlier works in which the same problem was solved by the authors using other heuristic algorithms – swarm and genetic. This article presents the problem statement and the model of the working space, distinguishes the goals of robotic operation. The quality indicator is the total distance traveled by each of the robots in the group. To enable the original problem to be solved using the Hopfield neural network, a graph representation of the Hopfield is made by switching from the VRP to the TSP problem. The results of computational experiments confirming the effectiveness of the chosen approach for choosing a strategy of behavior of a group of mobile robots are shown.

Programming Modular Robots in a Simulated Environment for Hardware Control Validation

2013 ◽  
Author(s):  
Kevin J. Gucwa ◽  
Harry H. Cheng
Keyword(s):  
3D Visualization ◽  
Robotic Systems ◽  
Modular Robots ◽  
Simulation Environment ◽  
Control Software ◽  
Simulated Environment ◽  
Control Computer ◽  
Simulation Control ◽  
A Minor ◽  
Close Integration

This paper presents a simulation environment to control modular robots in a program which is directly applicable for hardware control. Computer simulations provide a powerful tool for visualizing robotic systems as evidenced by myriad environments developed for prototyping, designing, and testing robots. In the presented simulation environment, code written for hardware control can be validated within the simulation with a minor modification due to the close integration of the hardware and simulation control software. The simulation environment is built atop Ch, the C/C++ interpreter which provides the capability to remotely control robots through code, Open Dynamics Engine, which accurately models the dynamics of the bodies, and OpenScene-Graph, used to provide 3D visualization. Multiple experiments were run which proved the accuracy of the simulation by comparing results with the hardware control code in both single- and multi-robot situations.

MODULE DESIGN WITH COMMUNICATION AND RECONFIGURATION FOR SNAKE-TYPE MODULAR ROBOTIC SYSTEMS

2010 ◽  
Vol 07 (03) ◽  
pp. 205-223
Author(s):  
FENG-LI LIAN ◽  
PING-CHIH LIN
Keyword(s):  
Wireless Communication ◽  
Case Studies ◽  
Modular Design ◽  
Robotic Systems ◽  
Motion Coordination ◽  
Module Design ◽  
Physical Position ◽  
Planning Algorithm ◽  
Reconfiguration Planning

In this paper, the module hardware design is addressed and a wireless communication algorithm is proposed for the motion coordination and reconfiguration planning of snake-type robots. The objective of the modular design and the planning algorithm is on self-intelligence and distributed feature for the adding of new modules and the removal of broken parts during motion reconfiguration. Particularly, the automatic connector and wireless communication are implemented on each module, and a planning algorithm for motion reconfiguration is proposed for determining the physical position and acting role of the sequential connected modules in a snake-like robot. Finally, two types of case studies are conducted for testing the communication feasibility and motion reconfigurability of the proposed robotic modules.

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