Towards robotic self-reassembly after explosion

Abstract

This paper introduces a new challenge problem: designing robotic systems to recover after disassembly from high-energy events and a first implemented solution of a simplified problem. It uses vision-based localization for self-reassembly. The control architecture for the various states of the robot, from fully-assembled to the modes for sequential docking, are explained and inter-module communication details for the robotic system are described. Robots and Systems, IROS 2007, October 2007. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. Comments Reprinted from Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Author(s)Mark Yim, Babak Shirmohammadi, Jimmy Sastra, Michael Park, Michael Dugan, and Camillo J. Taylor This journal article is available at ScholarlyCommons: http://repository.upenn.edu/meam_papers/147Abstract-This paper introduces a new challenge problem: designing robotic systems to recover after disassembly from high-energy events and a first implemented solution of a simplified problem. It uses vision-based localization for selfreassembly. The control architecture for the various states of the robot, from fully-assembled to the modes for sequential docking, are explained and inter-module communication details for the robotic system are described.

Adaptive strategy for online gait learning evaluated on the polymorphic robotic LocoKit

“…Alternatively, heterogeneous modular robots contains several types of modules with different functionality, the degree to which the modules are self-contained can vary from autonomous mobile modules [8] to mechanical components as in LEGO MINDSTORMS. Heterogeneous systems [6], [23], [27] includes the LocoKit [13] which we utilize in this paper. More details on the history and mechatronics of modular robots can be found in recent surveys [22], [26].…”

Making self-disassembling objects with multiple components in the Robot Pebbles system

“…Typically, modular robots have been categorized as either chainstyle [2]- [4], or lattice-style [5]- [7]. Often the categorization of a robot is ambiguous and there are other systems, like the Digital Clay project [8], that lack any innate actuation capability and rely on a user to rearrange the modules.…”

An Optocoupled Poseable Ball and Socket Joint for Computationally Enhanced Construction Kits

“…CKbot [5] is a robotic cube with four faces with hermaphroditic connectors, and an internal degree of freedom that rotates one face relative to the other three. The basic connector has a bolt pattern to provide a mechanical connection and uses a standard header pin to provide power and communication buses.…”