Joint solutions of many degrees-of-freedom systems using dextrous workspaces

Agrawal, Sunil K.; Kissner, L.; Yin, Meng

doi:10.1109/robot.2001.932995

Cited by 9 publications

(8 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…That is they are constructed from multiple serial chain configurations without forming loops. Work related to manipulation of modular robot systems includes inverse kinematics for highly redundant chain using PolyBot [36,1], and constrained optimization techniques with nonlinear constraints [7]. Due to complicated constraints in these approaches, real-time applications for large systems cannot be guaranteed and numerical issues have to be addressed when solving the optimization problem in the presence of obstacles.…”

Section: Modular Robot Control and Planningmentioning

confidence: 99%

A Quadratic Programming Approach to Manipulation in Real-Time Using Modular Robots

Liu,

Yim

2021

Preprint

View full text Add to dashboard Cite

Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion planning problem. Real-time control brings about more difficulties in which robots have to maintain the stability while moving towards the target. Redundant systems are common in modular robots that consist of multiple modules and are able to transformed into different configurations with respect to different needs. Different from robots with fixed geometry or configurations, the kinematics model of a modular robotic system can alter as the robot reconfigures itself, and developing a generic control and motion planning approach for such systems is difficult, especially when multiple motion goals are coupled. A new manipulation planning framework is developed in this paper. The problem is formulated as a sequential linearly constrained quadratic program (QP) that can be solved efficiently. Some constraints can be incorporated into this QP, including a novel way to approximate environment obstacles. This solution can be used directly for real-time applications or as an off-line planning tool, and it is validated and demonstrated on the CKBot and SMORES-EP modular robot platforms.

show abstract

Section: Modular Robot Control and Planningmentioning

confidence: 99%

A Quadratic Programming Approach to Manipulation in Real-Time Using Modular Robots

Liu,

Yim

2021

Preprint

View full text Add to dashboard Cite

show abstract

“…Building a self-assembling swarm-bot by means of interconnecting robots is a very different task than interconnecting modules in a selfreconfigurable robot. This last can in fact compute the exact position of each module in order to ensure precise positioning during interconnection (Agrawal et al, 2001). This is not the case in a swarm-bot where there is freedom of connecting at several angles and with less accuracy.…”

Section: Versatilitymentioning

confidence: 99%

Swarm-Bot: A New Distributed Robotic Concept

Pettinaro²,

et al. 2004

View full text Add to dashboard Cite

Abstract. The swarm intelligence paradigm has proven to have very interesting properties such as robustness, flexibility and ability to solve complex problems exploiting parallelism and self-organization. Several robotics implementations of this paradigm confirm that these properties can be exploited for the control of a population of physically independent mobile robots.The work presented here introduces a new robotic concept called swarm-bot in which the collective interaction exploited by the swarm intelligence mechanism goes beyond the control layer and is extended to the physical level. This implies the addition of new mechanical functionalities on the single robot, together with new electronics and software to manage it. These new functionalities, even if not directly related to mobility and navigation, allow to address complex mobile robotics problems, such as extreme all-terrain exploration.The work shows also how this new concept is investigated using a simulation tool (swarmbot3d) specifically developed for quickly designing and evaluating new control algorithms. Experimental work shows how the simulated detailed representation of one s-bot has been calibrated to match the behaviour of the real robot.

show abstract

“…It has to be considered that interconnecting robots to build a self-assembling SWARM-BOT is a very different action than interconnecting modules in a self-reconfigurable robot. Self-reconfigurable robots can compute the exact position of each module in order to ensure precise positioning during interconnection [1]. This is not the case in self-assembling robots like the SWARM-BOT where one needs freedom to connect at several angles and in less controlled situations.…”

Section: B Interconnectionsmentioning

confidence: 99%

“…The goal of the SWARM-BOTS project 1 is to take inspiration from ant self-assembling mechanisms and structures and translate some features into a robotic system. The project includes design, hardware implementation, test and use of this type of self-assembling, self-organizing, metamorphic robotic systems.…”

Section: Introductionmentioning

confidence: 99%

“…An important part of the project consists in the physical construction of at least one SWARM-BOT, that is, a self-assembling and selforganizing robot colony composed of a number (30-35) of smaller devices, called s-bots, physically interconnected. 1 http://www.swarm-bots.org The next section describes the SWARM-BOT concept, showing the particular features of this system. Section 3 focuses on the prototype implementation, illustrating design choices and original solutions.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

SWARM-BOT: from concept to implementation

Mondada

Guignard

Bonani

et al.

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

View full text Add to dashboard Cite

Absrmcf-This paper presents a new robotic concept, called SWARM-BOT, based on a swarm of autonomous mobile robots with self-assembling capabilities. SWARM-BOT takes advantage from collective and distributed approaches to ensure robustness to failures and to bard environment conditions in tasks such as navigation, search and transportation in rough terrain. One SWARM-BOT b composed of a number of simpler robots, called s-bots, physically interconnected. The SWARM-BOT is provided with selfassembling and self-reconfiguring capabilities whereby s-bots can connect and disconnect forming large flexible structures. This paper introduces the SWARM-BOT concept and describes its implementation from a mecbatronic perspective.

show abstract

Joint solutions of many degrees-of-freedom systems using dextrous workspaces

Cited by 9 publications

References 6 publications

A Quadratic Programming Approach to Manipulation in Real-Time Using Modular Robots

A Quadratic Programming Approach to Manipulation in Real-Time Using Modular Robots

Swarm-Bot: A New Distributed Robotic Concept

SWARM-BOT: from concept to implementation

Contact Info

Product

Resources

About