Roombots: Reconfigurable Robots for Adaptive Furniture

Spröwitz, Alexander; Pouya, Soha; Bonardi, Stephane; Kieboom, Jesse van den; Möckel, Rico; Billard, Aude; Dillenbourg, Pierre; Ijspeert, Auke Jan

doi:10.1109/mci.2010.937320

Cited by 87 publications

(49 citation statements)

References 39 publications

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“…In this lattice architecture, reconfiguration is simpler to plan. Something similar happens with central-point-hinged modular robots such as Molecubes or Roombots [20], even though their hinging mechanism gives rise to a geometrically different rotation movement of their units.…”

Section: Introductionmentioning

confidence: 91%

A new meta-module for efficient reconfiguration of hinged-units modular robots

Parada

Sacristán

Silveira

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-We present a robust and compact meta-module for edge-hinged modular robot units such as M-TRAN, SuperBot, SMORES, UBot, PolyBot and CKBot, as well as for centralpoint-hinged ones such as Molecubes and Roombots. Thanks to the rotational degrees of freedom of these units, the novel meta-module is able to expand and contract, as to double/halve its length in each dimension. Moreover, for a large class of edge-hinged robots the proposed meta-module also performs the scrunch/relax and transfer operations required by any tunneling-based reconfiguration strategy, such as those designed for Crystalline and Telecube robots. These results make it possible to apply efficient geometric reconfiguration algorithms to this type of robots. We prove the size of this new meta-module to be optimal. Its robustness and performance substantially improve over previous results.

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Section: Introductionmentioning

confidence: 91%

A new meta-module for efficient reconfiguration of hinged-units modular robots

Parada

Sacristán

Silveira

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…Sprowitz et al [24] proposed the Roombot project in which a stochastic optimization algorithm is used to explore the optimal CPG configurations for different simulated Roombot structures. This work is meaningful to the multi-mode locomotion pattern and reconfiguration.…”

Section: State Of the Artmentioning

confidence: 99%

Response Strategy to Environmental Cues for Modular Robots with Self-Assembly from Swarm to Articulated Robots

Wang

Wei

et al. 2015

J Intell Robot Syst

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This paper proposes a strategy for a group of swarm robots to self-assemble into a single articulated(legged) structure in response to terrain difficulties during autonomous exploration. These articulated structures will have several articulated legs or backbones, so they are well suited to walk on difficult terrains like animals. There are three tasks in this strategy: exploration, self-assembly and locomotion. We propose a formation self-assembly method to improve self-assembly efficiency. At the beginning, a swarm of robots explore the environment using their sensors and decide whether to self-assemble and select a target configuration from a library to form some robotic structures to finish a task. Then, the swarm of robots will execute a self-assembling task to construct the corresponding configuration of an articulated robot.connected robots, the articulated robot generates locomotive motions. Based on Sambot that are designed to unite swarm mobile and self-reconfigurable robots, we demonstrate the feasibility for a varying number of swarm robots to self-assemble into snake-like and multi-legged robotic structures. Then, the effectiveness and scalability of the strategy are discussed with two groups of experiments and it proves the formation self-assembly is more efficient in the end.

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“…Recent systems which are able to self-reconfigure in 3D and form mobile robots include M-TRAN III [18], SuperBot [19], CKBot [20], Roombots [21], ATRON [22], Replicator-Symbrion [23], Sambot [24], UBot [25], Cross-Ball [26] and SMORES [27].…”

Section: Self-reconfigurable Modular Robotsmentioning

confidence: 99%