Development of Arm Equipped Single Wheel Rover: Effective Arm-Posture-Based Steering Method

Motomura, Kazuhiro; Kawakami, Atsushi; Hirose, Shigeo

doi:10.1007/s10514-005-0727-9

Cited by 15 publications

(11 citation statements)

References 12 publications

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“…A more recent implementation of SMC is the SMC rover [25], [27]. It is a planetary rover composed of a parent unit with attachable child units (called Uni-Rovers).…”

Section: ) Smc Rovermentioning

confidence: 99%

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Autonomous Self-Assembly in Swarm-Bots

et al. 2006

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Abstract-In this paper, we discuss the self-assembling capabilities of the swarm-bot, a distributed robotics concept that lies at the intersection between collective and self-reconfigurable robotics. A swarm-bot is comprised of autonomous mobile robots called s-bots. S-bots can either act independently or self-assemble into a swarm-bot by using their grippers. We report on experiments in which we study the process that leads a group of s-bots to self-assemble. In particular, we present results of experiments in which we vary the number of s-bots (up to 16 physical robots), their starting configurations, and the properties of the terrain on which self-assembly takes place. In view of the very successful experimental results, swarm-bot qualifies as the current state of the art in autonomous self-assembly.

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“…A more recent implementation of SMC is the SMC rover [25], [27]. It is a planetary rover composed of a parent unit with attachable child units (called Uni-Rovers).…”

Section: ) Smc Rovermentioning

confidence: 99%

“…The current prototype is not equipped with any sensors. Its primary purpose is to study and improve the basic capabilities of the underlying mechanics [27].…”

Section: ) Smc Rovermentioning

confidence: 99%

Autonomous Self-Assembly in Swarm-Bots

et al. 2006

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“…Disconnecting and redocking of a child unit to the mothership is realized by allowing it to follow a fixed path by making use of dead-reckoning. The most recent development is the SMC rover [Motomura et al 2005]. It is a planetary rover with attachable child robots (called Unirovers), each one composed of a single wheel and a manipulation arm (also used as connection mechanism).…”

Section: Mobile Self-reconfigurable Robotsmentioning

confidence: 99%

Cooperation through self-assembly in multi-robot systems

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Trianni

et al. 2006

ACM Trans. Auton. Adapt. Syst.

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This article illustrates the methods and results of two sets of experiments in which a group of mobile robots, called s-bots, are required to physically connect to each other, that is, to self-assemble, to cope with environmental conditions that prevent them from carrying out their task individually. The first set of experiments is a pioneering study on the utility of self-assembling robots to address relatively complex scenarios, such as cooperative object transport. The results of our work suggest that the s-bots possess hardware characteristics which facilitate the design of control mechanisms for autonomous self-assembly. The control architecture we developed proved particularly successful in guiding the robots engaged in the cooperative transport task. However, the results also showed that some features of the robots' controllers had a disruptive effect on their performances. The second set of experiments is an attempt to enhance the adaptiveness of our multi-robot system. In particular, we aim to synthesise an integrated (i.e., not-modular) decisionmaking mechanism which allows the s-bot to autonomously decide whether or not environmental contingencies require self-assembly. The results show that it is possible to synthesize, by using evolutionary computation techniques, artificial neural networks that integrate both the mechanisms for sensory-motor coordination and for decision making required by the robots in the context of self-assembly.

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“…In (Yamakita et al 2003), the child units rearranged themselves to produce optimal tracking performance at different speeds. In the SMC Rover (Motomura et al 2005), the child units are called Uni-Rovers. Each UniRover is composed of a wheel and a single manipulator.…”

Section: Related Workmentioning

confidence: 99%

SWARMORPH-script: a language for arbitrary morphology generation in self-assembling robots

2008

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In certain multi-robot systems, the physical limitations of the individual robots can be overcome using self-assembly-the autonomous creation of physical connections between individual robots to form a larger composite robotic entity. However, existing robotic systems capable of self-assembly have little or no control over the morphology of the self-assembled entities. This restricts the adaptability of such systems, since robots can carry out certain tasks more efficiently if their morphology is specialized to the task. In this paper, we extend the distributed mechanism presented in (Christensen et al. in IEEE Robot. Autom. Mag. 14(4):18-25, 2007) that allows autonomous mobile robots to self-assemble into specific morphologies. We present a simple language, SWARMORPH-script, that allows for concise descriptions of the rules that govern the distributed morphology growth process. Local visual communication allows physically connected robots to send and receive strings. A string can be a rule identifier that triggers execution of predefined logic for extending a morphology. Alternatively, whole scripts can be communicated and subsequently executed on the receiving robot. On real self-propelled robots capable of self-assembly, we demonstrate how specific morphologies can be constructed, how the size of a morphology can be regulated, and how multiple morphologies can be assembled. We also show how the transmission of entire scripts gives the robots the capacity to participate in the formation of morphologies of which they had no a priori knowledge.

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Development of Arm Equipped Single Wheel Rover: Effective Arm-Posture-Based Steering Method

Cited by 15 publications

References 12 publications

Autonomous Self-Assembly in Swarm-Bots

Autonomous Self-Assembly in Swarm-Bots

Cooperation through self-assembly in multi-robot systems

SWARMORPH-script: a language for arbitrary morphology generation in self-assembling robots

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