Research on self-reconfiguration strategy of modular spherical robot

Abstract

Self-reconfigurable robot is a complex system composed of multiple modular robots. Aiming at high efficiency and low energy consumption of self-reconfigurable robot configuration transformation, a self-reconfiguration strategy based on module mapping of the common parts is proposed. This strategy describes the configuration of the robot in the form of a graph, and a method to determine the central node of configuration is proposed. The central node module as the starting node for comparison of different configurations, and the common part between the two configurations is reserved. Then the module closest to the target module is searched, the target configuration is reconfigured from the inside to the outside with the minimum energy consumption constraint. Finally, based on the experiment results, compared with other self-reconfiguration strategies, the proposed self-reconfiguration strategy reduces the times of reconfiguration operations and improves the reconfiguration efficiency.

Achievements and future directions in self‐reconfigurable modular robotic systems

“…When a lightweight design is crucial for the proposed locomotion mechanism, such as presented in Sun et al (2022), plastic‐based materials can offer a good solution. Sun et al (2022) proposed spherical modules that can provide tumbling and rotating wheel motions in closed and open forms respectively.…”

“…When a lightweight design is crucial for the proposed locomotion mechanism, such as presented in Sun et al (2022), plastic‐based materials can offer a good solution. Sun et al (2022) proposed spherical modules that can provide tumbling and rotating wheel motions in closed and open forms respectively. In the closed form, the mass block inside the module is moved longitudinally to result in change of position of center of gravity that creates the module motion.…”

“…In the open form, two hemispheres of the module are repelled from each other to create a gap that allows them to move as independent wheels with their own motors. In this design, the authors offer a high efficiency and a low energy consumption (Sun et al, 2022). The material selected for the shell of the modules should be lightweight to satisfy these promises.…”

“…Figure 17(Sun et al, 2022). It can be underlined that convenient and cheap manufacturing methods make plastic-based materials attractive for researchers.There are some points that should be considered when working with plastic-based materials.…”

“…Detailed view of a single module, (b) closed and open forms, and (c) snake-like structure(Sun et al, 2022) …”