Self-reconfigurable Robotic System Research Articles

Origami Polyhedra-Based Soft Multicellular Robots.

The reconfigurable and modular method, and the adaptive morphology method are two main methodologies to achieve the multimodal robots. Basically, the former method mimics the biological multicellular systems, while the latter is mostly inspired by the multimodal animals. Herein inspired by the rhombic dodecahedron (RDD) origami model, a novel type of soft multicellular robots with multimodal locomotion is presented. Morphologically, the combinable and expandable three-dimensional (3D)-printed soft RDD cells are assembled into several typical patterns: in-line, cross shaped, oblong shaped, and parallelogra shaped. The kinematics based on the sequential monolithic deformations of soft RDDs is analyzed to generate multimodal locomotion: peristaltic crawling, two-anchor crawling, crawling with turning functions, and omnidirectional crawling through the propagating waves in two orthogonal directions. More encouragingly, without reorganizing the pattern or reshaping the morph, the in-line multicellular robots manifest excellent climbing abilities, where the built-in rhombic meshes alternately tighten and loosen the pole-like structures to provide the gripping forces reliably without sacrificing mobility. To wrap up, owing to the monolithic and hierarchical deformability, high reconfigurability, and 3D-printable manufacturability of the RDD, we anticipate that the soft multicellular robot can potentially manifest further contributions to the advanced robotics with embodied intelligence, such as task-oriented self-assembly robots, self-reconfigurable robotic systems, and goal-directed metamorphosis robots.

Origami, Shape Memory Alloys, and Geckos? Designing and Manufacturing an Underactuated Self-Reconfigurable Cube Robot

Modular self-reconfigurable robotic systems are an active field of research leading to versatile, robust, and compact robotic systems. One approach utilizes self-relocatable cuboid robots as building blocks to construct lattice-type modular robotic systems which can be used to construct structures in humanly inaccessible locations through remote or autonomous control. Previous work on self-assembling cube robots has been actuated through both fluidic and inertial methods to provide robot locomotion. The presented robotic cube functions through the harmony of an underactuated Origami Linear Soft Pneumatic Actuator (OL’ SPA) and the modulation of four Shape Memory Alloy (SMA) hinge pin actuators for each face of the cube. By disengaging three of the SMA hinge pin actuators on one of the cube’s faces, the underactuated OL’ SPA expands circumferentially about the remaining engaged SMA hinge pin actuator, opening the cube’s face. Applied to the outside of the outer cube face is a bioinspired gecko tape adhesive, allowing the cube robot the ability to self-reconfigure and climb. Through this innovative integration of novel actuation mechanisms and bioinspired adhesion, the presented robotic cube navigates uncharted terrain in the realm of modular self-reconfiguring robotics.

DEVELOPING A MOTION MECHANISM FOR A SINGLE MODULE IN A SELF-RECONFIGURABLE MODULAR MICROROBOTICS SYSTEM BY USING EXTERNAL MAGNETIC ACTUATORS

In microrobotics field, self-reconfigurable modular robots (SRMRs) offer several advantages including adaptation to uneven environments, the capability of handling various sets of tasks, and continuous operation in the case of a malfunction of a single module. The current research direction in self-reconfigurable robotic systems is towards reaching million level number of modules working in coherence by means of locomotion, self-reconfiguration, and information flow. This research direction comes with new challenges such as miniaturizing the modules. One should consider looking for alternative ways of locomotion and self-reconfiguration when dealing with SRMRs having million level number of modules. Externally actuating the modules can be a good alternative to micro SRMRs. In this study, we developed a novel motion mechanism for a single module in a micro SRMR system by using external magnetic actuators. An assembly of elastic microtubes and permanent magnets is attached inside a cube-shaped module and periodic motion of the assembly is applied. The motion of a single microtube with permanent magnets inside is generated by using COMSOL Multiphysics software. The results of the simulations are compared with theoretical values to validate the motion mechanism that is introduced in the study.

Choice of Kinematic Structure of Modular Robotic System Depending on the Type of Motion Surface

Purpose of research. The purpose of this study is to identify the advantages and disadvantages of various kinematic structures (formations) of self-reconfigurable modular robotic systems depending on the type of surface over which the system is mainly to be moved.Methods. Analysis of kinematic structures of modular robotic systems with respect to their displacement capabilities was carried out. Features of movement of these formations on different surfaces, as well as features of application of some formations are highlighted. A study of functionality of its own mobile autonomous reconfigurable system was carried out on the basis of described formations.Results. According to the results of the study, the main structures of modular robotic systems were identified, among which the most popular are formations that have a chain architecture: "snake," "manipulator"; "walking" structures: "quadropod," "spider," "centipede," as well as mobile structures "machine," "wheel" and "ball." Based on the conducted analysis, structures were developed for their own modular robotics system. Geometric features and kinematic limitations of its modules were considered in developing the structuresConclusion. The use of the analysis results will allow better adaptation of a modular self-reconfigurable robotic system to the surface on which this system moves. The selection of a particular formation of the modular system is also influenced by the required speed of movement over a given surface. Walking formations have the greatest adaptability to various types of surfaces, but they are also the most difficult from the point of view of control system developing.

Review of Modular Self-Reconfigurable Robotic Systems and Potential Industry Problems

Modular Self-Reconfigurable Robotic (MSRR) schemes are a vital remedy for the developing demand in consumer products, automations and space exploration. The wider factor of usage and self-healing capacity are some of the influencing characteristics of robot for actual-wide application whereas segmental robotics provide an effective remedy with respect to traditional robotics. Researchers have now noted different forms of application and prototyped different systems of robotics whereas concentrating on constraints such as homogeneity, configurability, energy consumption and form factor. Diversified condition of various segmental robotic remedies projected for actual-world application and usage of various actuators and sensors interfacing methods alongside physical optimization of models present potential problems whereas visualizing and identifying the advantages and disadvantages of various approaches to remedies. This research reviews the various self-reconfigurable robotic schemes with a brief overview of history and architecture of the robotic schemes. Later in this contribution, the problems in the design of hardware, control and planning algorithms, mixed hardware and software problems and in its application problems that are underway are critically evaluated with respect to modular self-reconfigurable robotics.

A Framework for Taxonomy and Evaluation of Self-Reconfigurable Robotic Systems

Self-reconfigurable robots have been proposed for a quite long period and in large numbers. However, there are very few systematic methodologies proposed to categorize and evaluate such kinds of robots. In this paper, we put forward a framework for taxonomy and evaluation (TAEV) of self-reconfigurable robots, based on the mechanism reconfigurability and the level of autonomy for reconfiguration. The mechanism reconfigurability of the robots is divided into two types: inter-reconfigurability and intra-reconfigurability which are quantified by the number of configurations and scale respectively. A combination of both the intra- and inter-reconfigurability feature is named as nested-reconfiguration. The levels of autonomy reconfigurability are ranging through different levels from manual teleoperation to fully autonomous systems. The evaluation metrics are introduced to quantify the level of autonomy and the sufficiency of self-reconfigurable robots. Detailed discussions on applications of the proposed framework are presented with real-robot examples.

Corrigendum to “Modular Self-Reconfigurable Robotic Systems: A Survey on Hardware Architectures”

Corrigendum to “Modular Self-Reconfigurable Robotic Systems: A Survey on Hardware Architectures”

L-systems driven self-reconfiguration of modular robots

In the domain of modular self-reconfigurable robotic systems, self-reconfiguration is known to be a highly challenging task. This article presents a novel algorithm for distributed self-reconfiguration by combining cellular automata and L-systems. Cellular automata is used to handle the relative motion planning of decentralized modules. L-systems are introduced to provide a topological description for the target configuration. The turtle interpretation is extended to modular robotics to generate local predictions for distributed modules from global description. Local predictions spread out in the system through gradient propagation. Modules, using cellular automata rules managing local motion, climb gradient to the expanding fronts for constructing global configurations. Both simulations and experiments have demonstrated the practical effectiveness of the proposed algorithm.

Simulation of Self-Reconfigurable Material Systems

Article investigates possible ways of implementing aspects of mechanical load into a simulation of self-reconfigurable robotic system. Simulation is done in Netlogo environment with connection to Oofem FEM solver.

Coordination control design of heterogeneous swarm robots by means of task-oriented optimization

This paper is concerned with a framework to design self-organizing, self-reconfigurable robotic systems. We focus our attention on the algorithm of a multi-agent system called Swarm Chemistry, prop...

Automatic Detection of the Connected Module and its Orientation

This paper describes a hardware design of connection places for an automatic detection of a newly connected module and detection of its orientation for use in the self-reconfigurable modular robotic system. It also describes a mechanical design for an energy and information transfer between modules in the system. This paper also describes testing of an automatic detection with a graphical display of the results for an actual shape of a newly created kinematic structure of the system.

The Experimental Method for Obtaining Input Data for the Design of an Automatic Magnetic Connection Mechanism

This paper describes process of an experimental evaluation of the necessary torque for disconnection of a magnetic connection mechanism. The paper describes basic information of a designed testing stand for an experimental evaluation of mechanical parameters of the automatic connection mechanism based on magnetic principle for use in self-reconfigurable modular robotic system. Also describes processing of measured values. Obtained values were then used in a mechanical design of the testing connection mechanism for verification of its other parameters.

Path planning for robotized mobile supports

The paper presents a method of placement and relocation of the movable components of a self-reconfigurable robotic fixture system. The system consists of a set of mobile platforms carrying parallel type manipulators equipped with deformable heads. The heads support large flexible workpieces during machining. The machined workpieces have complex spatial geometry. Drilling requires the static placement of supporting robots at each drilling position, while milling necessitates their continuous relocation during machining. The paper reference case is a milling operation on thin sheets supported by two mobile robots. The two heads consecutively relocate and affix themselves to the supported thin metal sheet, so that one of them supports the workpiece while the other relocates itself in such a way as to precede the working tool. This task requires the adequate positioning of the heads in order to follow the workpiece geometry simultaneously providing stable support. Mobile base motion plan and sequences of manipulator postures assure the required real-time positioning of the heads. As the tool proceeds along the required path with the velocity dictated by the machining procedures the relocation of supports is critical. The presented method was successfully applied and tested in an industrial environment.

Finding Proper Configurations for Modular Robots by Using Genetic Algorithm on Different Terrains

This paper presents a novel self-reconfigurable robotic system named ACMoD where each module can move itself individually. It can also attach to other modules to build various configurations and change this configuration adaptively on different terrains. In this paper, we have proposed Genetic Algorithm for optimizing the path of modular robots through a static grid of different terrain blocks. Each chromosome consists of path and modular robot configurations. Solution of the proposed algorithm is a proper path and configuration pattern for crossing the environment with minimum effort related to a pre-defined multi-objective function. Finally, for investigating the efficiency of the proposed algorithm, the performance of proposed algorithm is compared to Dijkstra algorithm in different environments.

Self-Reconfigurable Robots—An Introduction. Kasper Stoy, David Brandt, and David J. Christensen. (2010, MIT Press.) $35.00, £24.95, 224 pages.

<i>Self-Reconfigurable Robots—An Introduction.</i> Kasper Stoy, David Brandt, and David J. Christensen. (2010, MIT Press.) $35.00, £24.95, 224 pages.

Design and implementation of HexBot: A modular self-reconfigurable robotic system

This paper proposes the design and implementation of a planar hexagonal modular self-reconfigurable robotic system (MSRRS). A universal module is carefully designed to reflect the primary required criteria such as homogeneity, cost-effectiveness, fast actuation, and quick strong connections. While our working prototype is both large and restricted to a planar motion, it is designed so that the hardware and software can be scaled up in the number of units and down in unit size and it can be extended to accommodate 3D applications. One of the novel approaches in our design is that it is based on a multilayer approach where each layer is dedicated to perform a specific task; in other words, the design itself is considered to be modular. This multilayer approach in both the hardware and the software enables each layer to be modified and enhanced while keeping the remaining layers untouched, providing openness, flexibility, and ease of modification. The software infrastructure of this system is designed to allow the implementation of different hierarchies for distributed control and communication.

Kinematics of Self-Reconfigurable Robotic System

Theory of mechanisms with variable structure in robotic applications self-reconfigurable structures is one of the directions of development of robotics. On our faculty is developed self-reconfigurable modular robotic system capable of rebuilding a structure according to the requirements of the current task. To perform kinematic changes of its structure we needs to have information on where to find the modules and their submodules. Therefore it is necessary to know the mathematical relationship between the positions of its individual parts. Spatial kinematic chains is investigated based on the theory of simultaneous movements, where the position of each member is specified in the global coordinate system using local coordinate systems associated with individual members. To identify the position of the individual local coordinate systems were used transformation matrix, the accuracy of which is verified in mathematical programs and results from these programs are then compared with results of movement analysis notified by simulation procedures.

Motion Spaces and Self-morphing Algorithm of Self-reconfigurable Modular Robot

A novel, homogenous, self-reconfigurable modular robot system is designed, which consists of one center cube and six rotary sides. According to the motion features of each module and the constraints of chessboard rules, such as the Oxy plane, there are four kinds of states. Then, the possible motion space is studied and concluded. A distance function of the present configuration center and the goal configuration center is used as the heuristic information which can drive the modules to move. According to the possible motion spaces of each module, the automatic matching method of modules’ motion spaces and target structure spaces is applied to realize the self-morphing process of the self-reconfigurable modular robots step by step. In order to finish the self-morphing task quickly, the preferential motion coefficient is defined, the filling rules of modules are given. Then, the algorithm is optimized. Finally, a simulation with sixteen modules of the self-reconfigurable robot is shown to prove the feasibility of the said method.

Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics

The field of modular self-reconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology. Modular self-reconfigurable systems have the promise of making significant technological advances to the field of robotics in general. Their promise of high versatility, high value, and high robustness may lead to a radical change in automation. Currently, a number of researchers have been addressing many of the challenges. While some progress has been made, it is clear that many challenges still exist. By illustrating several of the outstanding issues as grand challenges that have been collaboratively written by a large number of researchers in this field, this article has shown several of the key directions for the future of this growing field

Get back in shape! [SMA self-reconfigurable microrobots

Self-reconfigurable robotic systems composed of multiple modules have been investigated intensively with respect to their versatility, flexibility, and fault-tolerance. Although some microscale self-assembly systems have been reported, they are passively assembled to predetermined shape by surface tension in an irreversible manner and cannot form arbitrary shapes. To develop a modular microrobot that can actively reconfigure itself, we adopt an actuating mechanism driven by a shape memory alloy (SMA). One of the advantages of an SMA actuator is that it keeps a higher power-weight ratio on microscales than electromagnetic motors.