Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environments

Bie, Dongyang; Wang, Yulin; Zhao, Jie; Zhu, Yanhe

doi:10.1177/1729881418754477

Cited by 7 publications

(3 citation statements)

References 44 publications

(59 reference statements)

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“…Applications of modular robots with lattice architecture are focused on their ability to reproduce geometric shapes through self-reconfiguration, e.g., as a mechanical realization of programmable matter [18,23,31,41]. Locomotion of lattice-based systems is realized using rotational degrees of freedom from individual modules to create a wheeled-like motion [42,43] or utilizing cluster flow, which has also been successfully demonstrated in environments with obstacles [6,[44][45][46][47]. Other proposed applications for these systems are supporting function [8] or grasping objects by enclosing them with growing module chains [8,48].…”

Section: Related Workmentioning

confidence: 99%

PARTS—A 2D Self-Reconfigurable Programmable Mechanical Structure

Gerbl,

Pieber,

Ulrich

et al. 2024

Robotics

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Modular self-reconfigurable robots hold the promise of being capable of performing a wide variety of tasks. However, many systems fall short of either delivering this promised functionality due to constraints in system architecture or validating it on functional hardware prototypes. This paper demonstrates the functional capabilities of the Planar Adaptive Robot with Triangular Structure (PARTS) and documents the versatility of this robot system using a holistic approach that combines simulations and hardware demonstrations on a prototype with nine fabricated modules. PARTS is a two-dimensional modular robot consisting of modules with a shape-shifting triangular geometry capable of forming adaptable space-covering structures. Meta-modules and mesh restructuring techniques are presented as methods for achieving topological self-reconfiguration. The feasibility of these methods is demonstrated by applying them on a simulated reconfiguration example of 62 modules. The paper showcases the versatility of PARTS on the hardware prototype using task-specific configurations, including locomotion using a meta-module and a walker configuration, module-module interaction by establishing a bridge between two separated module clusters, and interaction with the environment using a gripper and supporting structure configuration. The results validate the versatility and emphasize the potential of the system’s design concept, motivating the transfer of the hardware architecture to the third dimension.

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Section: Related Workmentioning

confidence: 99%

PARTS—A 2D Self-Reconfigurable Programmable Mechanical Structure

Gerbl,

Pieber,

Ulrich

et al. 2024

Robotics

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“…The most popular self-reconfiguration model is by far the simple sliding-cube, which resides in a cubic lattice and can perform translations and convex rotations on the surface of other modules, or only one of the former in some models. Approaches vary from disassembly/reassembly through an intermediate shape (Fitch et al, 2003), tunneling through the shape with sliding-only cubes (Kawano, 2015) (both with quadratic operating time cost), to more specialized methods such as (Bie et al, 2018) which can build branching structures in a linear number of module motions using Lindenmayer-systems and cellular automata (Bie et al, 2018;Zhu et al, 2017).…”

Section: Related Workmentioning

confidence: 99%

Deterministic scaffold assembly by self-reconfiguring micro-robotic swarms

Thalamy

Piranda

Lassabe

et al. 2020

Swarm and Evolutionary Computation

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The self-reconfiguration of large swarms of modular robotic units from one object into another is an intricate problem whose critical parameter that must be optimized is the time required to perform a transformation. Various optimizations methods have been proposed to accelerate transformations, as well as techniques to engineer the shape itself, such as scaffolding which creates an internal object structure filled with holes for easing the motion of modules. In this paper, we propose a novel deterministic and distributed method for rapidly constructing the scaffold of an object from an organized reserve of modules placed underneath the reconfiguration scene. This innovative scaffold design is parameterizable and has a face-centered-cubic lattice structure made from our rotating-only micro-modules. Our method operates at two levels of planning, scheduling the construction of components of the scaffold to avoid deadlocks at one level, and handling the navigation of modules and their coordination to avoid collisions in the other. We provide an analysis of the method and perform simulations on shapes with an increasing level of intricacy to show that our method has a reconfiguration time complexity of O(3 √ N) time steps for a subclass of convex shapes, with N the number of modules in the shape. We then proceed to explain how our solution can be further extended to any shape.

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“…generation units, energy storage, payload, cameras, wheels, feet and grippers. MSRR can be categorized into various architectural segments by geometrical classification of units [2]. Various schemes display hybrid features, which have been discussed below.…”

Section: Introductionmentioning

confidence: 99%

Review of Modular Self-Reconfigurable Robotic Systems and Potential Industry Problems

2021

JMC

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Modular Self-Reconfigurable Robotic (MSRR) schemes are a vital remedy for the developing demand in consumer products, automations and space exploration. The wider factor of usage and self-healing capacity are some of the influencing characteristics of robot for actual-wide application whereas segmental robotics provide an effective remedy with respect to traditional robotics. Researchers have now noted different forms of application and prototyped different systems of robotics whereas concentrating on constraints such as homogeneity, configurability, energy consumption and form factor. Diversified condition of various segmental robotic remedies projected for actual-world application and usage of various actuators and sensors interfacing methods alongside physical optimization of models present potential problems whereas visualizing and identifying the advantages and disadvantages of various approaches to remedies. This research reviews the various self-reconfigurable robotic schemes with a brief overview of history and architecture of the robotic schemes. Later in this contribution, the problems in the design of hardware, control and planning algorithms, mixed hardware and software problems and in its application problems that are underway are critically evaluated with respect to modular self-reconfigurable robotics.

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Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environments

Cited by 7 publications

References 44 publications

PARTS—A 2D Self-Reconfigurable Programmable Mechanical Structure

PARTS—A 2D Self-Reconfigurable Programmable Mechanical Structure

Deterministic scaffold assembly by self-reconfiguring micro-robotic swarms

Review of Modular Self-Reconfigurable Robotic Systems and Potential Industry Problems

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