Modular Hydraulic Propulsion: A robot that moves by routing fluid through itself

Abstract

Abstract-This paper introduces the concept of Modular Hydraulic Propulsion, in which a modular robot that operates in a fluid environment moves by routing the fluid through itself. The robot's modules represent sections of a hydraulics network. Each module can move fluid between any of its faces. The modules (network sections) can be rearranged into arbitrary topologies. We propose a decentralized motion controller, which does not require modules to communicate, compute, nor store information during run-time. We use 3-D simulations to compare the performance of this controller to that of a centralized controller with full knowledge of the task. We also detail the design and fabrication of six 2-D prototype modules, which float in a water tank. Results of systematic experiments show that the decentralized controller, despite its simplicity, reliably steers modular robots towards a light source. Modular Hydraulic Propulsion could offer new solutions to problems requiring reconfigurable systems to move precisely in 3-D, such as inspection of pipes, vascular systems or other confined spaces.

Modular Fluidic Propulsion Robots

“…It could be realized on hardware that does not offer arithmetic computation, thereby engendering the future miniaturization of the system. This article extends preliminary work on a related, hydraulic propulsion concept [23]. In particular,…”

Advances in the Inspection of Unpiggable Pipelines

“…their chassis to form complex shapes. Each of the modules in this system form a section of a hydraulic system which when connected to another module forms a flowing network [37]. The Multifunctional Mobile Unit, MMU3 [6] also utilised a propeller in a version specified for fluid travel.…”

“…which when connected to another module forms a flowing network [37]. The Multifunctional Mobile Unit, MMU3 [6] also utilised a propeller in a version specified for fluid travel.…”

“…e University of Sheffield took a different approach to swimming, developing a modular robot ich can manipulate the fluid in order to generate propulsion in a certain direction by combining eir chassis to form complex shapes. Each of the modules in this system form a section of a hydraulic stem which when connected to another module forms a flowing network [37]. The Multifunctional obile Unit, MMU3 [6] also utilised a propeller in a version specified for fluid travel.…”

Self-reconfiguration of modular underwater robots using an energy heuristic

“…The ANGuilliform robot with ELectric Sense robotic platform (ANGELS) is formed by nine independent rigid bodies able to connect serially to achieve bio-inspired structures [19]. Doyle et al [20] introduced the concept of Modular Hydraulic Propulsion (MHP) in which a modular robot, intended for a fluid environment, moves by routing the fluid through itself. These modular systems are characterized by homogeneous robots docking together to provide a service.…”