A Novel Docking Mechanism Design and Dynamic Performance Analysis of Self-reconfigurable Modular Robot

Zhang, Minglu; Ge, Weimin

doi:10.1007/978-3-319-23327-7_58

Cited by 4 publications

(7 citation statements)

References 9 publications

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“…No obstacle information is available to the robot system. Modules interact with local environments using the Rule3 in equation (6). As shown in Figure 10, robotic structures during the reconfiguration process adapt to touching obstacle in a local sense.…”

Section: Function Of Parametric Reproduction Rulementioning

confidence: 99%

“…The hardware architectures of modules lie in lattice architecture, [3][4][5] mobile architecture, [6][7][8][9] chain architecture, [10][11][12] hybrid architecture, [13][14][15][16][17] and Freeform architecture. 18 Besides the difference in moving ability and computer expression from architecture, each module is a complete robot with on-board battery, sensing, computing, and moving ability.…”

Section: Introductionmentioning

confidence: 99%

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Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environments

Bie

Wang

Zhao

et al. 2018

International Journal of Advanced Robotic Systems

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Self-reconfiguration of modular self-reconfigurable robots is a fundamental function that can be used as part of higher-level functionality. Interaction with the environment is a key factor affecting the self-reconfiguration process of modular robots. In this article, a modeling framework that makes it possible to simulate and visualize the interactions at the level of decentralized modules will be introduced. The framework extends the formalism of Lindenmayer systems (L-systems) with constructs needed to model robotic information exchanged between decentralized modules and their surrounding environments. Both the construction of target configurations and environmental sensitive adaption can be handled by extending L-system symbols and reproduction rules. The proposed method is illustrated with simulations capturing the development of branching structures while adapting to environmental obstacles.

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Section: Function Of Parametric Reproduction Rulementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environments

Bie

Wang

Zhao

et al. 2018

International Journal of Advanced Robotic Systems

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“…Substituting equations (11)- (13) into equation 9, and using equation 14, Newton-Euler equation of generalized link assembly i with respect to the body frame i can be rewritten as follows…”

Section: Robot Dynamics Modelingmentioning

confidence: 99%

“…5 Utilizing the mobility, it can form the chain or the lattice architecture through the locking mechanism, and it can also implement more kinds of configurations. Several literatures of the mobile architecture were published, such as Trimobot, 6 UBot, 7 ModRED, 8 Scout robot, 9 AMOEBA, 10 Sambot, 11 360bot, 12 M 2 sbot, 13 and OMNIMO. 14 Previous researchers mainly focused on the structure design [12][13][14] and the locomotion and control.…”

Section: Introductionmentioning

confidence: 99%

“…Several literatures of the mobile architecture were published, such as Trimobot, 6 UBot, 7 ModRED, 8 Scout robot, 9 AMOEBA, 10 Sambot, 11 360bot, 12 M 2 sbot, 13 and OMNIMO. 14 Previous researchers mainly focused on the structure design [12][13][14] and the locomotion and control. 6,7,9,[15][16][17] However, the research of automatic generation of motion equations is not enough, and especially the configuration adaptive control is less.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic modeling and configuration adaptive control for modular reconfigurable robot

Zhang

Liu

2017

Advances in Mechanical Engineering

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A unit module of the mobile modular reconfigurable robot (M 2 rBot) with the 12 connection ways is first introduced. For expressing the spatial connection relations and the traversing paths of the M 2 rBot, a novel method of the automatic generation of the spatial connection matrix is presented based on our proposed double-module space pose transformation. The motion equations are also automatically generated to solve the reconstruction problems of mechanical configuration, kinematics, and dynamics. This method enables to analyze the kinematics and dynamics for both serial and multi-branch modular robots with different configurations. As for the control strategies, a fuzzy robust adaptive controller is also developed to adapt to the different configurations without adjusting any control parameters. The results show that the novel method is effective, and the proposed controller can satisfy tracking performances and quickly adapt to the change of the configurations, the frictions, and the external disturbances. The proposed method and controller are easy to extend to other modular robots.

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Detachable Body: Validating the Positional Relationship between Head and Arm

Vimolmongkolporn

Iwasaki

Kato

et al. 2023

2023 IEEE/SICE International Symposium on System Integration (SII)

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A Novel Docking Mechanism Design and Dynamic Performance Analysis of Self-reconfigurable Modular Robot

Cited by 4 publications

References 9 publications

Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environments

Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environments

Dynamic modeling and configuration adaptive control for modular reconfigurable robot

Detachable Body: Validating the Positional Relationship between Head and Arm

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