Roombots: A hardware perspective on 3D self-reconfiguration and locomotion with a homogeneous modular robot

Spröwitz, Alexander; Moeckel, Rico; Vespignani, Massimo; Bonardi, Stephane; Ijspeert, Auke Jan

doi:10.1016/j.robot.2013.08.011

Cited by 103 publications

(66 citation statements)

References 56 publications

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“…In order to achieve certain motion for the modular robot, the end-effector of the 6-DOF structure should be in a corresponding position and pose in (8). Then converting the position and pose to angles of each joint via inverse kinematics is necessary.…”

Section: Inverse Kinematicsmentioning

confidence: 99%

See 1 more Smart Citation

The Kinematics Analysis of a Novel Self-Reconfigurable Modular Robot Based on Screw Theory

Li¹,

Zhu²,

Wang³

et al. 2017

dtetr

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This paper introduces our newly designed self-reconfigurable modular robot named Larva-Bot, which has two DOFs with intersecting rotation axis normal to each other. Each module has autonomous mobility, and can assemble with other modules to form various configurations. In this study, a typical 6-DOF structure, composed of Larva-Bots, is proposed to analyze the kinematic characteristics of the modular robot. The common kinematics model of the robot is based on the Denavit-Hartenberg (D-H) parameter method, while its inverse kinematics has inefficient calculation and complicated solutions. To solve the problems, the screw theory method is applied in this paper. The forward kinematics model is constructed by using the product of exponentials (POEs) formula, while the inverse kinematics analysis is based on Paden-Kahan Sub-problems. Finally, the reliability of the method has been proved by computations and simulation.

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Section: Inverse Kinematicsmentioning

confidence: 99%

“…They can be classified into two kinds. One of them have a very good metamorphism and reconfiguration performance with the help of the other modules, such as M-TRAIN [5] , PolyBot [6] , Conro [7] , Roombot [8] , Superbot [9] , M-Blocks [10] . M-cube [11] etc.…”

Section: Introductionmentioning

confidence: 99%

The Kinematics Analysis of a Novel Self-Reconfigurable Modular Robot Based on Screw Theory

Li¹,

Zhu²,

Wang³

et al. 2017

dtetr

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show abstract

“…Chain-like robot can been used to reconfigure into multi-branch structures [11,12], however the potential shapes are limited. Chirikjian presents a hexagonal metamorphic robot which can reconfigurable into multi-branch or solid shapes [13].…”

Section: Introductionmentioning

confidence: 99%

Self-assembly Planning of a Shape by Regular Modular Robots

Wang

Chirikjian

2015

Advances in Reconfigurable Mechanisms and Robots II

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We present a self-assembly planning algorithm to allow regular modular robots to assemble into some specified shapes. By tiling a shape using connected lattices in accordance with the robotic geometry, a parallel sequence is obtained to plan self-assembly in successive layers. Robots are identical and autonomous. They use local interactions to seek for a grown shape and update the connection information to determine the corresponding shape. We calculate self-assembly steps of different sizes of shapes to obtain the optimal initial node for square shapes and simulate the self-assembly process.

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“…1a, capable of continuous rotation. Up to 10 Active Connection Mechanisms (ACMs) can be installed on each RB module, letting it connect to structured grid tiles and to other modules [17]. The structured grid is designed such that one sphere-like structure of a module fits exactly on a grid tile.…”

Section: Introductionmentioning

confidence: 99%

Natural user interface for Roombots

Özgür

Bonardi

Vespignani

et al. 2014

The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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Abstract-Roombots (RB) are self-reconfigurable modular robots designed to study robotic reconfiguration on a structured grid and adaptive locomotion off grid. One of the main goals of this platform is to create adaptive furniture inside living spaces such as homes or offices. To ease the control of RB modules in these environments, we propose a novel and more natural way of interaction with the RB modules on a RB grid, called the Natural Roombots User Interface. In our method, the user commands the RB modules using pointing gestures. The user's body is tracked using multiple Kinects. The user is also given real-time visual feedback of their physical actions and the state of the system via LED illumination electronics installed on both RB modules and the grid. We demonstrate how our interface can be used to efficiently control RB modules on simple point-to-point grid locomotion and conclude by discussing future extensions.

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Roombots: A hardware perspective on 3D self-reconfiguration and locomotion with a homogeneous modular robot

Cited by 103 publications

References 56 publications

The Kinematics Analysis of a Novel Self-Reconfigurable Modular Robot Based on Screw Theory

The Kinematics Analysis of a Novel Self-Reconfigurable Modular Robot Based on Screw Theory

Self-assembly Planning of a Shape by Regular Modular Robots

Natural user interface for Roombots

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