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Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics]
TLDR
Several of the key directions for the future of modular self-reconfigurable robotic systems, including the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology are shown.
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PolyBot: a modular reconfigurable robot
TLDR
PolyBot is the first robot to demonstrate sequentially two topologically distinct locomotion modes by self-reconfiguration, and as the design evolves the issues of low cost and robustness will be resolved while exploring the potential of modular, self- reconfigurable robots.
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Telecubes: mechanical design of a module for self-reconfigurable robotics
TLDR
The paper presents the intended functions, discusses the physical requirements of the modules and describes two key mechanical components: a compact telescoping linear actuator and a switching permanent magnet device.
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Emulating self-reconfigurable robots - design of the SMORES system
TLDR
The design of one system called SMORES (Self-assembling MOdular Robot for Extreme Shape-shifting) is introduced, capable of rearranging its modules in all three classes of reconfiguration; lattice style, chain style and mobile reconfigurations.
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Locomotion With A Unit-Modular Reconfigurable Robot
A unit-modular robot is a robot that is composed of modules that are all identical. In this thesis we study the design and control of unit-modular dynamically reconfigurable robots. This is based…
Towards robotic self-reassembly after explosion
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…
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Distributed Control for 3D Metamorphosis
TLDR
This paper presents a class of distributed control algorithms for the reconfiguration of Proteo robots based on the “goal-ordering” mechanism, and the properties of these algorithms are analyzed.
View on Springer
Self-reconfiguration planning for a class of modular robots
TLDR
This paper examines the self-reconfigurable problem and presents a divide-and-conquer strategy to solve reconfiguration for a class of problems referred to as closed-chain reconfigured robots, including reconfigurable robots whose topologies are described by 1D combinatorial topology.
View on SPIE
Indoor automation with many mobile robots
TLDR
The aim of this paper is to provide an overview of the GOFER project and present the current solutions to many research issues: implementation of nonconflicting sensor systems, man-ro robot and robot-robot communication systems and protocols, contingency-tolerant motion control, multi-ro Bot motion planning, and multi- robot task planning and scheduling.
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Modular Self-Reconfigurable Robots
TLDR
This chapter discusses bonding mechanism, configuration recognition, and Reconfiguration algorithm, which are methods that transform a given robotic configuration to a desired configuration via a sequence of module detachments and reattachments.
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