A modular robotic system using magnetic force effectors

Abstract

Abstract-One of the primary impediments to building ensembles of modular robots is the complexity and number of mechanical mechanisms used to construct the individual modules. As part of the Claytronics project-which aims to build very large ensembles of modular robots-we investigate how to simplify each module by eliminating moving parts and reducing the number of mechanical mechanisms on each robot by using force-at-a-distance actuators. Additionally, we are also investigating the feasibility of using these unary actuators to improve docking performance, implement intermodule adhesion, power transfer, communication, and sensing.In this paper we describe our most recent results in the magnetic domain, including our first design sufficiently robust to operate reliably in groups greater than two modules. Our work should be seen as an extension of systems such as Fracta [9], and a contrasting line of inquiry to several other researchers' prior efforts that have used magnetic latching to attach modules to one another but relied upon a powered hinge [10] or telescoping mechanism [12] within each module to facilitate self-reconfiguration.

Dynamic Power Sharing for Self-Reconfigurable Modular Robots

“…(a) Odin [4] (b) Electrostatic Latches [5] (c) Planar Catoms [6] Power sharing is an essential problem in self-reconfigurable modular robots because the structures possible are large and diverse and require a solution that must function across all configurations. Due to the various kinds of selfreconfigurable modular robots, several kinds of power sharing structures and circuits have been developed.…”

“…Fig. 2(c) shows Planar Catoms [6] also developed by CMU where the transformer is used to transfer the power, providing power to the connected module. The robust power sharing capabilities which are able to handle the dynamic nature of self-reconfigurable modular robots especially in unpredictable situations are not shown.…”

What's in the Bag: A Distributed Approach to 3D Shape Duplication with Modular Robots

“…The Claytronics project envisions cylindrical [11,10], and eventually spherical modules, covered in magnetic or electrostatic actuators, that are capable of rolling relative to one another. Lipson et al have developed a stochastic fluidic assembly system consisting of cubic modules whose assembly is controlled by pressure and suction [19,17].…”

Towards cyclic fabrication systems for modular robotics and rapid manufacturing

“…), or it may be the structural grid itself. For example, some proposed applications of modular robots call for a large reconfigurable lattice [35]. A large lattice composed primarily of passive components, but reconfigured by a small number of active robots moving within the lattice, might be a feasible alternative to reconfigurable lattices in which every element is an active modular robot.…”