Anatomy-based organization of morphology and control in self-reconfigurable modular robots

2010 ◽  
Vol 19 (6) ◽  
pp. 787-805 ◽  
Author(s):  
David Johan Christensen ◽  
Jason Campbell ◽  
Kasper Stoy
Keyword(s):  
Modular Robots ◽  
And Control

scholarly journals Scalable and Robust Fabrication, Operation, and Control of Compliant Modular Robots

2020 ◽  
Vol 7 ◽  
Author(s):  
Nialah Jenae Wilson ◽  
Steven Ceron ◽  
Logan Horowitz ◽  
Kirstin Petersen
Keyword(s):  
Modular Robots ◽  
And Control

scholarly journals A Biologically-Inspired Dynamic Legged Locomotion With a Modular Reconfigurable Robot

2008 ◽  
Author(s):  
Jimmy Sastra ◽  
Willy Giovanni Bernal Heredia ◽  
Jonathan Clark ◽  
Mark Yim
Keyword(s):  
Experimental Data ◽  
Dynamic Simulation ◽  
Control Strategy ◽  
Legged Locomotion ◽  
Modular Robots ◽  
Robot Design ◽  
Biologically Inspired ◽  
Reconfigurable Robot ◽  
Robot Configuration ◽  
And Control

Reconfigurable Modular robots can adapt their morphologies and their gaits for locomotion through different environments, whether like a snake for moving through constrained spaces or in a wheel-like shape for efficient and fast rolling on flat terrain. This paper proposes a new, scalable biologically-inspired legged style of locomotion for this class of robots. Passively compliant leg attachments are utilized to achieve a dynamic running gait using body articulation. A dynamic simulation as well as experimental data showing that we have achieved stable dynamic locomotion is presented. Although the robot design and control strategy are, in principle, scalable to any number of leg pairs, results are given for a hexapedal robot configuration. This prototype represents the first example of dynamic legged locomotion driven only by body articulation.

Dynamic rolling locomotion and control of modular robots

2002 ◽  
Vol 18 (1) ◽  
pp. 32-41 ◽  
Author(s):  
Woo Ho Lee ◽  
A.C. Sanderson
Keyword(s):  
Modular Robots ◽  
Rolling Locomotion ◽  
And Control

scholarly journals Locomotion Gait Optimization For Modular Robots; Coevolving Morphology and Control

2011 ◽  
Vol 7 ◽  
pp. 320-322 ◽  
Author(s):  
Soha Pouya ◽  
Ebru Aydin ◽  
Rico Möckel ◽  
Auke Jan Ijspeert
Keyword(s):  
Modular Robots ◽  
And Control ◽  
Gait Optimization

scholarly journals Seeking quality diversity in evolutionary co-design of morphology and control of soft tensegrity modular robots

2021 ◽  
Author(s):  
Enrico Zardini ◽  
Davide Zappetti ◽  
Davide Zambrano ◽  
Giovanni Iacca ◽  
Dario Floreano
Keyword(s):  
Modular Robots ◽  
And Control

scholarly journals A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots

2021 ◽  
pp. 1-10
Author(s):  
Chao Liu ◽  
Tarik Tosun ◽  
Mark Yim
Keyword(s):  
Low Cost ◽  
Complete Solution ◽  
Position Estimation ◽  
Modular Robots ◽  
Position Sensor ◽  
Position Sensing ◽  
Wide Range ◽  
Accurate Position ◽  
Estimation And Control ◽  
And Control

Abstract Accurate position sensing is important for state estimation and control in robotics. Reliable and accurate position sensors are usually expensive and difficult to customize. Incorporating them into systems that have very tight volume constraints such as modular robots are particularly difficult. PaintPots are a low-cost, reliable, and highly customizable position sensor, but their performance is highly dependent on the manufacturing and calibration process. This paper presents a Kalman Filter with a simplified observation model developed to deal with the nonlinearity issues that result from the use of low-cost microcontrollers. In addition, a complete solution for the use of PaintPots in a variety of sensing modalities including manufacturing, characterization, and estimation is presented for an example modular robot, SMORES-EP. This solution can be easily adapted to a wide range of applications.

scholarly journals Automated Synthesis and Optimization of Robot Configurations

1998 ◽  
Author(s):  
Chris Leger ◽  
John Bares
Keyword(s):  
Object Oriented ◽  
Control Algorithms ◽  
Modular Robots ◽  
Planning And Control ◽  
Fixed Base ◽  
Flexible Planning ◽  
Key Issues ◽  
Task Oriented ◽  
And Control ◽  
Robot Configurations

Abstract We present an extensible system for synthesizing and optimizing robot configurations. The system uses a flexible representation for robot configurations based on parameterized modules; this allows us to synthesize mobile and fixed-base robots, including robots with multiple or branching manipulators and free-flying robots. Synthesis of modular robots is also possible with our representation. We use an optimization algorithm based on genetic programming. A distributed architecture is used to spread heavy computational loads across multiple workstations. We take a task-oriented approach to synthesis in which robots are evaluated on a designer-specified task in simulation; flexible planning and control algorithms are thus required so that a wide variety of robots can be evaluated. Our system’s extensibility stems from an object-oriented software architecture that allows new modules, metrics, controllers, and tasks to be easily added. We present two example synthesis tasks: synthesis of a robotic material handler, and synthesis of an antenna pointing system for a mobile robot. We analyze several key issues raised by the experiments and show several important ways in which the system can be extended and improved.

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