A Framework for Taxonomy and Evaluation of Self-Reconfigurable Robotic Systems

Tan, Ning; Hayat, Abdullah Aamir; Elara, Mohan Rajesh; Wood, Kristin L.

doi:10.1109/access.2020.2965327

Cited by 57 publications

(25 citation statements)

References 112 publications

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“…The environmental conditions in the real drain environment pose a challenge while adapting on wet surface and with obstacles along the path. The future research work aims at increasing the autonomy level index [28] which has to be achieved by focusing on the weight optimization, locomotion ability of platform on various rough terrain, stability analysis, wall collision avoidance, controller design for the leg joints.…”

Section: Discussionmentioning

confidence: 99%

“…The precedence of the Tarantula-II is based on the first version of the robot here referred as Tarantula-I reported in [27]. The two versions can be compared using the framework for evaluating the autonomy of the self-reconfigurable robot as reported in [28]. The autonomy index (AI) calculated based on the six factors, namely, perception, workspace, interface autonomy, reconfiguration planning, decision making and execution levels as [1,2,0,1,0,1] resulting in AI as 1.1.…”

Section: Introductionmentioning

confidence: 99%

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Design of a Self-Reconfigurable Drain Mapping Robot With Level-Shifting Capability

et al. 2020

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Nature has always been an inspiration for engineers and designers to have technological inventions. The postures, locomotion and gait cycles of animals are usually smooth, dynamically stable, and highly adaptable in an unknown terrain. Based on a giraffe's leg folding pattern, we develop a quadruped hybrid drain mapping robot with modular subsystems , four bar inversion mechanism based legs and bi-directional rolling wheel, named, Tarantula-II. The platform undergoes self-reconfiguration and achieves variable height and width, which in turn helps in navigation in a drain with multiple level-shifts. This paper describes the key features of giraffe's limb, how the folding pattern of the limbs are implemented in the robot design. In addition, we discuss the detailed mechanical design of platform, the kinematics analysis of each leg, kinematics of the platform with respect to wheels, and structural analysis of the platform under different gait condition. Applying the kinematics formulation and posture correction algorithm, we verify the mobility and level shifting capability of the platform both in lab setting and drain environment.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design of a Self-Reconfigurable Drain Mapping Robot With Level-Shifting Capability

et al. 2020

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“…The utilization of reconfigurability for floor cleaning robot would be useful in improving the area coverage. Thereby, many reconfigurable floor cleaning robots inspired by tiling theory have been introduced [30]. hTetro [33], hTromo [34], hHoneycomb [25] and hTetrakis [19] can be considered as examples.…”

Section: Introductionmentioning

confidence: 99%

Toward complete area coverage of a reconfigurable tiling robot by following obstacle shape

Samarakoon

Muthugala

et al. 2021

Complex Intell. Syst.

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Complete area coverage is a crucial factor for a floor cleaning robot. Self-reconfigurable tiling robots have been introduced over robots with a fixed shape for floor cleaning since they improve the area coverage by the flexibility of shape-shifting in cluttered environments. The existing coverage methods of reconfigurable tiling robots follow the tiling theory to cope with the area coverage problem. However, these methods merely consider a limited set of predefined shapes for the reconfiguration of a robot. The consideration of a limited set of predefined shapes for the reconfiguration impedes the ability of coverage to a certain extent in typical floor environments. Therefore, this paper proposes a novel method to improve area coverage of a tiling robot by reconfiguring according to the shape of obstacles. To this end, the required hinge angles for reconfiguring per the shape of an obstacle are determined by a genetic algorithm. The proposed method considers an optimized shape for reconfiguration in lieu of a limited set of predefined shapes. The coverage improvement of the proposed concept has been compared against the existing coverage methods of tiling robots to validate the performance. According to the experimental results, the proposed method surpasses the existing coverage methods of tiling robots from the perspective of area coverage, and the improvement is significant and noteworthy.

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“…The first is a robot that comprises a group of intelligent modules, and the second is a robot that comprises of a group of modules where the intelligence comes from an external agent. In our previous work, we have classified self-reconfigurable robots into three categories which are nested reconfigurability [ 16 , 17 , 18 ], intra reconfigurability [ 19 , 20 ], and inter reconfigurability [ 21 , 22 ]. The hTetro described earlier has nested reconfigurability.…”

Section: Introductionmentioning

confidence: 99%

Locomotion with Pedestrian Aware from Perception Sensor by Pavement Sweeping Reconfigurable Robot

Ramalingam

et al. 2021

Sensors

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Regular washing of public pavements is necessary to ensure that the public environment is sanitary for social activities. This is a challenge for autonomous cleaning robots, as they must adapt to the environment with varying pavement widths while avoiding pedestrians. A self-reconfigurable pavement sweeping robot, named Panthera, has the mechanisms to perform reconfiguration in width to enable smooth cleaning operations, and it changes its behavior based on environment dynamics of moving pedestrians and changing pavement widths. Reconfiguration in the robot’s width is possible, due to the scissor mechanism at the core of the robot’s body, which is driven by a lead screw motor. Panthera will perform locomotion and reconfiguration based on perception sensors feedback control proposed while using an Red Green Blue-D (RGB-D) camera. The proposed control scheme involves publishing robot kinematic parameters for reconfiguration during locomotion. Experiments were conducted in outdoor pavements to demonstrate the autonomous reconfiguration during locomotion to avoid pedestrians while complying with varying pavements widths in a real-world scenario.

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A Framework for Taxonomy and Evaluation of Self-Reconfigurable Robotic Systems

Cited by 57 publications

References 112 publications

Design of a Self-Reconfigurable Drain Mapping Robot With Level-Shifting Capability

Design of a Self-Reconfigurable Drain Mapping Robot With Level-Shifting Capability

Toward complete area coverage of a reconfigurable tiling robot by following obstacle shape

Locomotion with Pedestrian Aware from Perception Sensor by Pavement Sweeping Reconfigurable Robot

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