Hardware design of modular robotic system

Murata, Satoshi; Yoshida, Eiichi; Tomita, Kohji; Kurokawa, Haruhisa; Kamimura, Akiya; Kokaji, Shigeru

doi:10.1109/iros.2000.895297

Cited by 92 publications

(52 citation statements)

References 12 publications

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“…Being low cost, modularized, redundant, and shape or structure changeable, the self-reconfigurable modular robots have been widely used in real applications, such as deep ocean exploration, space exploration, urban search and rescue, mining and military intelligence [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16] . Self-reconfigurable robots are usually composed of multiple homologous or heterologous modules.…”

Section: Introductionmentioning

confidence: 99%

Network-based reconfiguration routes for a self-reconfigurable robot

Liu

Wang

et al. 2008

Sci. China Ser. F-Inf. Sci.

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This paper presents a network-based analysis approach for the reconfiguration problem of a self-reconfigurable robot. The self-reconfigurable modular robot named "AMOEBA-I" has nine kinds of non-isomorphic configurations that consist of a configuration network. Each configuration of the robot is defined to be a node in the weighted and directed configuration network. The transformation from one configuration to another is represented by a directed path with nonnegative weight. Graph theory is applied in the reconfiguration analysis, where reconfiguration route, reconfigurable matrix and route matrix are defined according to the topological information of these configurations. Algorithms in graph theory have been used in enumerating the available reconfiguration routes and deciding the best reconfiguration route. Numerical analysis and experimental simulation results prove the validity of the approach proposed in this paper. And it is potentially suitable for other self-reconfigurable robots' configuration control and reconfiguration planning.

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Section: Introductionmentioning

confidence: 99%

Network-based reconfiguration routes for a self-reconfigurable robot

Liu

Wang

et al. 2008

Sci. China Ser. F-Inf. Sci.

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“…Several different module designs and algorithms for coordinating the movement of these systems have been proposed. There are three classes of modular robots: chain (1), lattice (2), and hybrid (3)(4)(5). The modules move relative to each other using relative module motion (3,5), module disconnection (6), or random motion (7,8).…”

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confidence: 99%

“…There are three classes of modular robots: chain (1), lattice (2), and hybrid (3)(4)(5). The modules move relative to each other using relative module motion (3,5), module disconnection (6), or random motion (7,8). The theoretical investigations consider motion planning and design bounds (9)(10)(11), generic planners that can be instantiated to different robot bodies (12), and architecture-specific planners.…”

mentioning

confidence: 99%

Programmable matter by folding

Hawkes

Benbernou

et al. 2010

Proc. Natl. Acad. Sci. U.S.A.

579

474

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Programmable matter is a material whose properties can be programmed to achieve specific shapes or stiffnesses upon command. This concept requires constituent elements to interact and rearrange intelligently in order to meet the goal. This paper considers achieving programmable sheets that can form themselves in different shapes autonomously by folding. Past approaches to creating transforming machines have been limited by the small feature sizes, the large number of components, and the associated complexity of communication among the units. We seek to mitigate these difficulties through the unique concept of self-folding origami with universal crease patterns. This approach exploits a single sheet composed of interconnected triangular sections. The sheet is able to fold into a set of predetermined shapes using embedded actuation. To implement this self-folding origami concept, we have developed a scalable end-to-end planning and fabrication process. Given a set of desired objects, the system computes an optimized design for a single sheet and multiple controllers to achieve each of the desired objects. The material, called programmable matter by folding, is an example of a system capable of achieving multiple shapes for multiple functions.reconfigurable robotics | self-assembly | multifunctional materials | computational origami E very day, scientists and engineers design new devices to solve a current problem. Each device has a unique function and thus has a unique form. The geometry of a cup is designed to hold liquid and is therefore different from that of a knife which is meant to cut. Even if both are made of the same material (e.g., metal, ceramic, or plastic), neither can perform both tasks. Is this redundancy in material, yet limitation in tasks entirely necessary? Is it possible to create a programmable material that can reshape for multiple tasks?Programmable matter is a material whose properties can be programmed to achieve specific shapes or stiffnesses upon command. In this paper we consider the theory and design of programmable matter material that can assume multiple desired shapes on demand.We have developed a unique concept of self-folding origami with universal crease patterns that decreases the complexity in individual elements and is scalable in the number and size of elements. Instead of relying on many individual subunits, which may be complex and difficult to orient correctly, we utilize a single sheet with repeated triangular tiles connected by flexible creases. This sheet can fold with a certain crease pattern to create multiple three-dimensional shapes, depending on which creases fold, in which direction, and in which order. We build on a large body of prior work in self-reconfiguring robotics to realize machines with changing shapes. Self-reconfiguring robots are modular systems whose bodies consist of multiple modules that can communicate and move relative to each other to form different shapes. These shapes support the different locomotive, manipulative, or sensing needs of the robo...

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“…Rus et al have also studied different forms of self-organizing robotics through their experiments with the prototypes of Molecules [6] [7], modules that have a pair of two degree-of-freedom atoms and can successfully form 3D shapes. Murata et al originally developed the Fracta robot system [8] [9], which can reconfigure by rotating units about each other. Tomita et al [10] have since extended this work to a system in which modules can climb over one another, and Yoshida et al [11] have developed a miniaturized selfreconfigurable robot.…”

Section: Introductionmentioning

confidence: 99%

Three Dimensional Stochastic Reconfiguration of Modular Robots

White¹,

Zykov²,

Bongard³

et al. 2005

Robotics: Science and Systems I

127

116

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Abstract-Here we introduce one simulated and two physical three-dimensional stochastic modular robot systems, all capable of self-assembly and self-reconfiguration. We assume that individual units can only draw power when attached to the growing structure, and have no means of actuation. Instead they are subject to random motion induced by the surrounding medium when unattached. We present a simulation environment with a flexible scripting language that allows for parallel and serial selfassembly and self-reconfiguration processes. We explore factors that govern the rate of assembly and reconfiguration, and show that self-reconfiguration can be exploited to accelerate the assembly of a particular shape, as compared with static self-assembly. We then demonstrate the ability of two different physical three-dimensional stochastic modular robot systems to self-reconfigure in a fluid. The second physical implementation is only composed of technologies that could be scaled down to achieve stochastic self-assembly and self-reconfiguration at the microscale.

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Hardware design of modular robotic system

Cited by 92 publications

References 12 publications

Network-based reconfiguration routes for a self-reconfigurable robot

Network-based reconfiguration routes for a self-reconfigurable robot

Programmable matter by folding

Three Dimensional Stochastic Reconfiguration of Modular Robots

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