A Method for Modular Robots Generating Dynamics Automatically

Robotica ◽  
2001 ◽  
Vol 19 (1) ◽  
pp. 59-66 ◽  
Author(s):  
Yanqiong Fei ◽  
Zigang Zhao ◽  
Libo Song
Keyword(s):  
Group Theory ◽  
Dynamic Model ◽  
Automatic Generation ◽  
Modular Robots ◽  
Recursive Method ◽  
Link Module ◽  
Abstract Architecture ◽  
Reconfigurable Robot

In this paper a method for the automatic generation of dynamics for modular robots is presented. A modular reconfigurable robot consists of link modules and joint modules of various specifications. We analyze the abstract architecture of modular robots. A total of nine types of connecting forms and three types of joint forms are identified with reference to their own systems. The geometric relationships are derived by the group theory. According to the modular idea, the formulations of the velocity, acceleration and other essential equations of the link module and the joint module are formed compensatively and recursively. Then the dynamic model is generated automatically by a compensative and recursive method.

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.

scholarly journals Robust and fault tolerant control of modular and reconfigurable robots

2021 ◽  
Author(s):  
Sajan Abdul
Keyword(s):  
Dynamic Model ◽  
Distributed Control ◽  
Fault Tolerant ◽  
Joint Torque ◽  
Control Technique ◽  
Control Synthesis ◽  
Joint Control ◽  
Model Uncertainties ◽  
Reconfigurable Robots ◽  
Reconfigurable Robot

Modular and reconfigurable robot has been one of the main areas of robotics research in recent years due to its wide range of applications, especially in aerospace sector. Dynamic control of manipulators can be performed using joint torque sensing with little information of the link dynamics. From the modular robot perspective, this advantage offered by the torque sensor can be taken to enhance the modularity of the control system. Known modular robots though boast novel and diverse mechanical design on joint modules in one way or another, they still require the whole robot dynamic model for motion control, and modularity offered in the mechanical side does not offer any advantage in the control design. In this work, a modular distributed control technique is formulated for modular and reconfigurable robots that can instantly adapt to robot reconfigurations. Under this control methodology, a modular and reconfigurable robot is stabilized joint by joint, and modules can be added or removed without the need of re-tuning the controller. Model uncertainties associated with load and links are compensated by the use of joint torque sensors. Other model uncertainties at each joint module are compensated by a decomposition based robust controller for each module. The proposed distributed control technique offers a ‘modular’ approach, featuring a unique joint-by-joint control synthesis of the joint modules. Fault tolerance and fault detection are formulated as a decentralized control problem for modular and reconfigurable robots in this thesis work. The modularity of the system is exploited to derive a strategy dependent only on a single joint module, while eliminating the need for the motion states of other joint modules. While the traditional fault tolerant and detection schemes are suitable for robots with the whole dynamic model, this proposed technique is ideal for modular and reconfigurable robots because of its modular nature. The proposed methods have been investigated with simulations and experimentally tested using a 3-DOF modular and reconfigurable robot.

On the Development of a Piezoelectric-Actuated Compliant Brake Mechanism for Modular Robots

2011 ◽  
Author(s):  
Chris E. Thorne ◽  
Paul J. White ◽  
Mark Yim
Keyword(s):  
Energy Efficient ◽  
Magnetic Particles ◽  
Modular Robots ◽  
Modular Robotics ◽  
Dynamic Motion ◽  
Locking Mechanism ◽  
Design And Manufacturing ◽  
Reconfigurable Robot ◽  
Drum Brakes ◽  
Electromagnetically Actuated

A bistable brake mechanism can be beneficial to the development of an energy efficient module for a modular reconfigurable robot. These robots are comprised of many repeated units. To date, research efforts have focused on increasing specific torque to expand the capabilities of modular robots. In this work, we present the continued development of energy efficient joint-locking mechanisms, specifically a piezoelectric actuator and a compliant transmission. The design and manufacturing of the mechanism is presented along with a model for predicting the static and dynamic behavior of the device. We also present experimental results that indicate better performance in terms of power consumption, specific torque, and bandwidth than is possible with comparable devices that utilize magnetic particles and electromagnetically-actuated disc and drum brakes. When fully implemented, this joint-locking mechanism will lead to three critical improvements in the area of modular robotics: decreased energy expenditure per non-active module, increased ability to utilize dynamic motion due to less reliance on highly-geared servo motors, and improved ability to maintain configurations with high mechanical advantage.

scholarly journals Automatic Generation of Locomotion Patterns for Soft Modular Reconfigurable Robots

2019 ◽  
Vol 10 (1) ◽  
pp. 294 ◽  
Author(s):  
Xin Sui ◽  
Hegao Cai ◽  
Dongyang Bie ◽  
Yu Zhang ◽  
Jie Zhao ◽  
...  
Keyword(s):  
Parametric Design ◽  
Three Dimensional ◽  
Structural Complexity ◽  
Automatic Generation ◽  
Simulation Software ◽  
Modular Robots ◽  
Simulation Platform ◽  
Modular Robot ◽  
Dimensional Simulation ◽  
Multi Body

In recent years, soft modular robots have become popular among researchers with the development of soft robotics. However, the absence of a visual 3D simulation platform for soft modular robots hold back the development of the field. The three-dimensional simulation platform plays an important role in the field of multi-body robots. It can shorten the design cycle, reduce costs, and verify the effectiveness of the optimization algorithm expediently. Equally importantly, evolutionary computation is a very effective method for designing the controller of multi-body robots and soft robots with hyper redundancy and large parametric design space. In this paper, a tradeoff between the structural complexity of the soft modular robot and computational power of the simulation software is made. A reconfigurable soft modular robot is designed, and the open-source simulation software VOXCAD is re-developed to simulate the actual soft robot. The evolutionary algorithm is also applied to search for the most efficient motion pattern for an established configuration in VOXCAD, and experiments are conducted to validate the results.

scholarly journals Robust and fault tolerant control of modular and reconfigurable robots

2021 ◽  
Author(s):  
Sajan Abdul
Keyword(s):  
Dynamic Model ◽  
Distributed Control ◽  
Fault Tolerant ◽  
Joint Torque ◽  
Control Technique ◽  
Control Synthesis ◽  
Joint Control ◽  
Model Uncertainties ◽  
Reconfigurable Robots ◽  
Reconfigurable Robot

Modular and reconfigurable robot has been one of the main areas of robotics research in recent years due to its wide range of applications, especially in aerospace sector. Dynamic control of manipulators can be performed using joint torque sensing with little information of the link dynamics. From the modular robot perspective, this advantage offered by the torque sensor can be taken to enhance the modularity of the control system. Known modular robots though boast novel and diverse mechanical design on joint modules in one way or another, they still require the whole robot dynamic model for motion control, and modularity offered in the mechanical side does not offer any advantage in the control design. In this work, a modular distributed control technique is formulated for modular and reconfigurable robots that can instantly adapt to robot reconfigurations. Under this control methodology, a modular and reconfigurable robot is stabilized joint by joint, and modules can be added or removed without the need of re-tuning the controller. Model uncertainties associated with load and links are compensated by the use of joint torque sensors. Other model uncertainties at each joint module are compensated by a decomposition based robust controller for each module. The proposed distributed control technique offers a ‘modular’ approach, featuring a unique joint-by-joint control synthesis of the joint modules. Fault tolerance and fault detection are formulated as a decentralized control problem for modular and reconfigurable robots in this thesis work. The modularity of the system is exploited to derive a strategy dependent only on a single joint module, while eliminating the need for the motion states of other joint modules. While the traditional fault tolerant and detection schemes are suitable for robots with the whole dynamic model, this proposed technique is ideal for modular and reconfigurable robots because of its modular nature. The proposed methods have been investigated with simulations and experimentally tested using a 3-DOF modular and reconfigurable robot.

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