Ant3DBot: A Modular Self-reconfigurable Robot with Multiple Configurations

Niu, Sen; Ye, Linqi; Liu, Houde; Liang, Bin; Jin, Zhu

doi:10.1007/978-3-031-13844-7_52

Cited by 5 publications

(5 citation statements)

References 19 publications

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“…For example, the automobile chassis can be reconfigured into a form of legs or flippers to cross a river or even venture into space [26,[19][20][21][22]27]. It is even possible to reconfigure the entire automobile chassis [73,74] for true all-terrain applications, and thus, more automobile products may be developed. However, all of the above intelligent algorithms rely on the data transmission of on-board sensors to realize the interactions of human with automobile and automobile with environment.…”

Section: Reconfigurable Algorithm For Automobilesmentioning

confidence: 99%

Reconfigurability in Automobiles—Structure, Manufacturing and Algorithm for Automobiles

Zhuang¹,

Guan²,

Xu³

et al. 2022

IJAMM

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Review Reconfigurability in Automobiles—Structure, Manufacturing and Algorithm for Automobiles Zheming Zhuang 1, Yuntao Guan 1, Shuangjia Xu 2,4, and Jian S. Dai 3,4, * 1 Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, 300072, China zhuangzheming@tju.edu.cn (Z.Z.); guanyuntao_018@tju.edu.cn (Y.G.) 2 DH Robotics Ltd, Shenzhen, China; Shuangjia.xu@dh-robotics.com 3 Institute for Robotics, Southern University of Science and Technology, Shenzhen, China 4 Centre for Robotics Research, King’s College London, London, UK * Correspondence: jian.dai@kcl.ac.uk Received: 9 November 2022 Accepted: 10 November 2022 Published: 18 December 2022 Abstract: For the automobile design and manufacturing, as a typical representative of the industry, the development and upgrading represent the application of the state-of-the-art technology in the industry. With a period of development, the related technology of traditional manufacturing factories for automobiles are found with some common issues while improving. As such, the reconfigurable intelligent manufacturing factory of the automobiles is fast developed with focus on reconfigurability in structures, manufactures and algorithms, thus advancing the level of the reconfigurable intelligent manufacturing continuously. With a sufficient reconfigurable manufacturing technology as the basis, reconfigurability can be better introduced to the structure design and the driving algorithms of the automobiles. Reconfigurability provides a new bridge for transforming the traditional automobile to the reconfigurable automobile, and a new driving force for the upgrading of the reconfigurable driving algorithms.

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Section: Reconfigurable Algorithm For Automobilesmentioning

confidence: 99%

Reconfigurability in Automobiles—Structure, Manufacturing and Algorithm for Automobiles

Zhuang¹,

Guan²,

Xu³

et al. 2022

IJAMM

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“…The mechanobiology of MSCs studies the effect of mechano-niche on cell differentiation [25,26]. Previous WalkingBot [1] StarBlocks [46] ROMERIN [4] Morpho [20] Gardi et al [21] Luo et al [24] Ant3DBot [22] SMoLBot [47] This work studies [27][28][29][30] on MSCs have demonstrated the effectiveness of manual intervention [31][32][33][34][35][36] in differentiation by adjusting external loading (pressure, fluid shear, and medium stiffness), as shown in figure 1(a). Inspired by these approaches, we designed a 'differentiable' actuator and applied mechanical preloads, such as force and torque, to enable various multimodality and versatility, as shown in figure 1(b).…”

Section: Introductionmentioning

confidence: 95%

“…Bionic approaches are widely used in the design of modular robots, including footed robots [1][2][3][4][5], continuous robots [6][7][8][9][10][11][12][13][14][15][16][17], which mimic biological macrostructures, and particle robots [18][19][20][21][22][23][24]. The functionality of the modular robot depends on its configuration and size.…”

Section: Introductionmentioning

confidence: 99%

“…their configurations and capabilities are self-similar. To extend the morphology and functionality of modular robots, some research teams have been inspired by multicellular organisms to design bionic modular robots in the form of particle robots [18][19][20][21][22][23][24], enabling modules to be stacked in two and three dimensions to form robots with different morphologies. Within these robotic frameworks, although robots composed of a single kinematic module are capable of complex motions [19], the single kinematic module makes the motions of modular robots complex and overly redundant, limiting the performance of the robots as well as their potential configurations.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A differentiable actuator extends potential configurations of modular robots

Li,

Zhang,

Liang

et al. 2024

Smart Mater. Struct.

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Mesenchymal stem cells can be differentiated into various cell lineages under the influence of mechano-niche. Inspired by this approach, this study presents a differentiable stem cell actuator unit (SAU) driven by a shape memory alloy (SMA), and a modular robotic framework. Similar to mechanically guided differentiation of mesenchymal stem cells, SAUs can be differentiated into a series of differentiated actuator units (DAUs) under external preload. This process has been modeled, simulated, and experimentally validated, with testing conducted on three distinct types and 14 specifications of DAUs. DAUs weighing as light as 1.9g exhibited outputs reaching up to 10.6N and 46.32Nmm. Our team has developed seven application prototypes based on this bio-inspired framework including mobile robots, manipulators and end effectors. This work pioneers the integration of differentiable concepts and principles into the design of modular robots, enabling a wider range of potential configurations and capabilities.

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“…1 Although the concept of reconfigurable robots emerged in the 1970s when an end effector with automatic tool changers was introduced in computer numerical controlled machining centres, 2 most of the developments are based on conventional robots. [3][4][5][6] In recent years, soft robotics, a subfield of robotics that makes use of compliant materials, is emerging fast. Differs from rigid-bodied robots built from metals, ceramics, and hard plastics with rigid links, soft robots are made of rubber, plastic, or silicone and make use of hydraulic fluids or air to carry out their functions.…”

Section: Introductionmentioning

confidence: 99%