Robust and reversible execution of self-reconfiguration sequences

Robotica ◽  
2011 ◽  
Vol 29 (1) ◽  
pp. 35-57 ◽  
Author(s):  
Ulrik Schultz ◽  
Mirko Bordignon ◽  
Kasper Stoy
Keyword(s):  
Local State ◽  
The Self ◽  
Robotic Systems ◽  
Modular Robots ◽  
Software Failures ◽  
Reconfigurable Robots ◽  
Distributed Controller ◽  
Distributed Controllers ◽  
Scripting Language ◽  
Communication Errors

SUMMARYModular, self-reconfigurable robots are robotic systems that can change their own shape by autonomously rearranging the physical modules from which they are built. In this work, we are interested in how to distributedly execute a specified self-reconfiguration sequence. The sequence is specified using a simple and centralized scripting language, which either could be the outcome of a planner or be hand-coded. The distributed controller generated from this language allows for parallel self-reconfiguration steps and is highly robust to communication errors and loss of local state due to software failures. Furthermore, the self-reconfiguration sequence can automatically be reversed, if desired. We verify our approach and demonstrate its robustness in experiments using physical and the simulated ATRON modules, as well as simulated M-TRAN modules. Overall, the contribution of this work is the combination of the tractability of a centralized scripting language with the robustness and parallelism of distributed controllers in modular robots.

Controlling Modular Reconfigurable Robots With Handheld Smart Devices

2011 ◽  
Author(s):  
David Ko ◽  
Nalaka Kahawatte ◽  
Harry H. Cheng
Keyword(s):  
Graphical User Interface ◽  
Degrees Of Freedom ◽  
Robotic Systems ◽  
Effective Control ◽  
Smart Devices ◽  
Modular Robots ◽  
Reconfigurable Robots ◽  
Processing Power ◽  
Static Data ◽  
Remote Controller

Highly reconfigurable modular robots face unique teleoperation challenges due to their geometry, configurability, high number of degrees of freedom and complexity. Current methodology for controlling reconfigurable modular robots typically use gait tables to control the modules. Gait tables are static data structures and do not readily support realtime teleoperation. Teleoperation techniques for traditional wheeled, flying, or submerged robots typically use a set of joysticks to control the robots. However, these traditional methods of robot teleoperation are not suitable for reconfigurable modular robotic systems which may have dozens of controllable degrees of freedom. This research shows that modern cell phones serve as highly effective control platforms for modular robots because of their programmability, flexibility, wireless communication capabilities, and increased processing power. As a result of this research, a versatile Graphical User Interface, a set of libraries and tools have been developed which even a novice robotics enthusiast can use to easily program their mobile phones to control their hobby project. These libraries will be beneficial in any situation where it is effective for the operator to use an off-the-shelf, relatively inexpensive, hand-held mobile phone as a remote controller rather than a considerably heavy and bulky remote controllers which are popular today. Several usage examples and experiments are presented which demonstrate the controller’s ability to effectively control a modular robot to perform a series of complex gaits and poses, as well as navigating a module through an obstacle course.

scholarly journals Modular Self-Reconfigurable Robotic Systems: A Survey on Hardware Architectures

2017 ◽  
Vol 2017 ◽  
pp. 1-19 ◽  
Author(s):  
S. Sankhar Reddy Chennareddy ◽  
Anita Agrawal ◽  
Anupama Karuppiah
Keyword(s):  
Real World ◽  
Consumer Products ◽  
Robotic Systems ◽  
Modular Robots ◽  
Self Healing ◽  
Utilization Factor ◽  
The Past ◽  
Reconfigurable Robots ◽  
Real World Applications ◽  
Hardware Architectures

Modular self-reconfigurable robots present wide and unique solutions for growing demands in the domains of space exploration, automation, consumer products, and so forth. The higher utilization factor and self-healing capabilities are most demanded traits in robotics for real world applications and modular robotics offer better solutions in these perspectives in relation to traditional robotics. The researchers in robotics domain identified various applications and prototyped numerous robotic models while addressing constraints such as homogeneity, reconfigurability, form factor, and power consumption. The diversified nature of various modular robotic solutions proposed for real world applications and utilization of different sensor and actuator interfacing techniques along with physical model optimizations presents implicit challenges to researchers while identifying and visualizing the merits/demerits of various approaches to a solution. This paper attempts to simplify the comparison of various hardware prototypes by providing a brief study on hardware architectures of modular robots capable of self-healing and reconfiguration along with design techniques adopted in modeling robots, interfacing technologies, and so forth over the past 25 years.

scholarly journals Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environments

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141875447 ◽  
Author(s):  
Dongyang Bie ◽  
Yulin Wang ◽  
Yu Zhang ◽  
Che Liu ◽  
Jie zhao ◽  
...  
Keyword(s):  
The Self ◽  
Modular Robots ◽  
Lindenmayer Systems ◽  
Fundamental Function ◽  
Modeling Framework ◽  
Branching Structures ◽  
Reconfigurable Robots ◽  
L System ◽  
Key Factor ◽  
L Systems

Self-reconfiguration of modular self-reconfigurable robots is a fundamental function that can be used as part of higher-level functionality. Interaction with the environment is a key factor affecting the self-reconfiguration process of modular robots. In this article, a modeling framework that makes it possible to simulate and visualize the interactions at the level of decentralized modules will be introduced. The framework extends the formalism of Lindenmayer systems (L-systems) with constructs needed to model robotic information exchanged between decentralized modules and their surrounding environments. Both the construction of target configurations and environmental sensitive adaption can be handled by extending L-system symbols and reproduction rules. The proposed method is illustrated with simulations capturing the development of branching structures while adapting to environmental obstacles.

Self-Repairing Process in Self-Reconfigurable Robots Based on Geometrical Characteristics

2011 ◽  
Author(s):  
Yanqiong Fei ◽  
Xin Zhang
Keyword(s):  
Large Scale ◽  
The Self ◽  
Modular Robots ◽  
Modular Robot ◽  
Breadth First Search ◽  
Large Scale System ◽  
Geometrical Characteristics ◽  
Reconfigurable Robots ◽  
Large Numbers ◽  
Reconfigurable Robot

Self-reconfigurable modular robot consists of many identical modules. By changing the connections among modules, the structure of the robot can flexibly change into many other structures. First, the module is designed which can finish the self-repairing action and its disconnection/connection mechanism is analyzed. Second, a distributed self-repairing process based on the geometrical characters of the modular robot is presented. The method of the Breadth-First-Search and the Depth-First-Search is applied to look for a locomotion path by which a faulty module is ejected and replaced by a spare module. The method can be used to show the self-repairing task of most lattice-type modular robots. It’s effective to solve large numbers of computing problems when the faulty module is inside a large-scale system. At last, a simulation of (2 × 4 + 1)3 modules shows the feasibility and effectiveness of the self-repairing method in the self-reconfigurable robot.

Autonomous Docking of Hybrid-Wheeled Modular Robots with an Integrated Active Genderless Docking Mechanism

2021 ◽  
pp. 1-36
Author(s):  
Shubhdildeep S. Sohal ◽  
Bijo Sebastian ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Visual Servoing ◽  
Mechanical Design ◽  
Low Cost ◽  
Image Plane ◽  
Robotic Systems ◽  
Modular Robots ◽  
Tracking Accuracy ◽  
Drive Mechanism ◽  
Docking Mechanism ◽  
Autonomous Docking

Abstract This paper presents a self-reconfigurable modular robot with an integrated 2-DOF active docking mechanism. Active docking in modular robotic systems has received a lot of interest recently as it allows small versatile robotic systems to coalesce and achieve the structural benefits of large systems. This feature enables reconfigurable modular robotic systems to bridge the gap between small agile systems and larger robotic systems. The proposed self-reconfigurable mobile robot design exhibits dual mobility using a tracked drive mechanism for longitudinal locomotion and a wheeled drive mechanism for lateral locomotion. The 2-DOF docking interface allows for efficient docking while tolerating misalignments. To aid autonomous docking, visual marker-based tracking is used to detect and re-position the source robot relative to the target robot. The tracked features are then used in Image-Based Visual Servoing to bring the robots close enough for the docking procedure. The hybrid-tracking algorithm allows eliminating external pixelated noise in the image plane resulting in higher tracking accuracy along with faster frame update on a low-cost onboard computational device. This paper presents the overall mechanical design and the integration details of the modular robotic module with the docking mechanism. An overview of the autonomous tracking and docking algorithm is presented along-with a proof-of-concept real world demonstration of the autonomous docking and self-reconfigurability. Experimental results to validate the robustness of the proposed tracking method, as well as the reliability of the autonomous docking procedure, are also presented.

Quantum genetic algorithm to evolve controllers for self-reconfigurable modular robots

2020 ◽  
Vol 17 (3) ◽  
pp. 427-435
Author(s):  
Mohamed Khalil Mezghiche ◽  
Noureddine Djedi
Keyword(s):  
Genetic Algorithms ◽  
Degrees Of Freedom ◽  
Optimization Problems ◽  
The Self ◽  
Modular Robots ◽  
Modular Robot ◽  
Adaptive Locomotion ◽  
Content Type ◽  
Quantum Genetic Algorithm ◽  
Neural Controllers

Purpose The purpose of this study is to explore using real-observation quantum genetic algorithms (RQGAs) to evolve neural controllers that are capable of controlling a self-reconfigurable modular robot in an adaptive locomotion task. Design/methodology/approach Quantum-inspired genetic algorithms (QGAs) have shown their superiority against conventional genetic algorithms in numerous challenging applications in recent years. The authors have experimented with several QGAs variants and real-observation QGA achieved the best results in solving numerical optimization problems. The modular robot used in this study is a hybrid simulated robot; each module has two degrees of freedom and four connecting faces. The modular robot also possesses self-reconfiguration and self-mobile capabilities. Findings The authors have conducted several experiments using different robot configurations ranging from a single module configuration to test the self-mobile property to several disconnected modules configuration to examine self-reconfiguration, as well as snake, quadruped and rolling track configurations. The results demonstrate that the robot was able to perform self-reconfiguration and produce stable gaits in all test scenarios. Originality/value The artificial neural controllers evolved using the real-observation QGA were able to control the self-reconfigurable modular robot in the adaptive locomotion task efficiently.

scholarly journals Smart and Modular

2011 ◽  
Vol 133 (09) ◽  
pp. 48-51
Author(s):  
Harry H. Cheng ◽  
Graham Ryland ◽  
David Ko ◽  
Kevin Gucwa ◽  
Stephen Nestinger
Keyword(s):  
Degrees Of Freedom ◽  
Robotic System ◽  
Search And Rescue ◽  
Degree Of Freedom ◽  
Robotic Systems ◽  
Modular Robots ◽  
Modular Robot ◽  
Modular Systems ◽  
The Past ◽  
Three Degrees Of Freedom

This article discusses the advantages of a modular robot that can reassemble itself for different tasks. Modular robots are composed of multiple, linked modules. Although individual modules can move on their own, the greatest advantage of modular systems is their structural reconfigurability. Modules can be combined and assembled to form configurations for specific tasks and then reassembled to suit other tasks. Modular robotic systems are also very well suited for dynamic and unpredictable application areas such as search and rescue operations. Modular robots can be reconfigured to suit various situations. Quite a number of modular robotic system prototypes have been developed and studied in the past, each containing unique geometries and capabilities. In some systems, a module only has one degree of freedom. In order to exhibit practical functionality, multiple interconnected modules are required. Other modular robotic systems use more complicated modules with two or three degrees of freedom. However, in most of these systems, a single module is incapable of certain fundamental locomotive behaviors, such as turning.

Distributed and Centralized H∞ Control of Large Segmented Telescopes

2010 ◽  
Author(s):  
Baris Ulutas ◽  
Afzal Suleman ◽  
Edward J. Park
Keyword(s):  
Next Generation ◽  
Vast Number ◽  
Primary Mirror ◽  
Performance Requirements ◽  
Distributed Controller ◽  
Nodal Model ◽  
Distributed Controllers ◽  
Simulation Results ◽  
Imaging Performance ◽  
Large Primary

Next generation telescopes are to employ segmented mirrors to realize extremely large primary mirror surfaces. Most of the current ground-based telescopes has monolithic mirrors with radius upto 8 metres. Due to limitations segmentation is preferred for larger size mirrors. Segmentation of mirrors brings a challenging task of controlling the vast number of individual units. In this paper, the H∞ control of the primary mirror of the next generation telescopes are investigated. Both spatially-invariant distributed and centralized controllers are designed for simplified dynamic model of a 37 segment test unit. Firstly, the 37 segment system is modelled by adopting a nodal model. Secondly, an analytic calculation of a H∞ controller is presented. A centralized H∞ controller is, then, designed and simulated in MatLab-Simulink environment. Next, the simulation results are presented and the performance of the controller is evaluated. Thirdly, spatially-invariant distributed controller synthesis is described and a spatially-invariant distributed controller is designed for 37 segment system by controller truncation. The spatially-invariant distributed controller is simulated for the 37 segment system. The simulation results of the controller is presented and compared with the results from centralized scheme. It is shown that both centralized and spatially-invariant distributed controllers satisfy the imaging performance requirements.

Programming Modular Robots in a Simulated Environment for Hardware Control Validation

2013 ◽  
Author(s):  
Kevin J. Gucwa ◽  
Harry H. Cheng
Keyword(s):  
3D Visualization ◽  
Robotic Systems ◽  
Modular Robots ◽  
Simulation Environment ◽  
Control Software ◽  
Simulated Environment ◽  
Control Computer ◽  
Simulation Control ◽  
A Minor ◽  
Close Integration

This paper presents a simulation environment to control modular robots in a program which is directly applicable for hardware control. Computer simulations provide a powerful tool for visualizing robotic systems as evidenced by myriad environments developed for prototyping, designing, and testing robots. In the presented simulation environment, code written for hardware control can be validated within the simulation with a minor modification due to the close integration of the hardware and simulation control software. The simulation environment is built atop Ch, the C/C++ interpreter which provides the capability to remotely control robots through code, Open Dynamics Engine, which accurately models the dynamics of the bodies, and OpenScene-Graph, used to provide 3D visualization. Multiple experiments were run which proved the accuracy of the simulation by comparing results with the hardware control code in both single- and multi-robot situations.

Optimal Distribution of Active Modules in Reconfiguration Planning of Modular Robots

2018 ◽  
Vol 11 (1) ◽  
Author(s):  
Meibao Yao ◽  
Xueming Xiao ◽  
Christoph H. Belke ◽  
Hutao Cui ◽  
Jamie Paik
Keyword(s):  
Heuristic Algorithms ◽  
Robotic Systems ◽  
Modular Robots ◽  
Optimal Distribution ◽  
Distribution Problem ◽  
Modular Architecture ◽  
Modular Units ◽  
Minimum Number ◽  
Reconfiguration Planning ◽  
Reduced Time

Reconfigurability in versatile systems of modular robots is achieved by appropriately actuating individual modular units. Optimizing the distribution of active and passive modules in modular architecture can significantly reduce both cost and energy of a reconfiguration task. This paper presents a methodology for planning this distribution in modular robots, resulting in a minimum number of active modules that guarantees the capability to reconfigure. We discuss the optimal distribution problem in layout-based and target-based planning schemes such that modular robots can instantly respond to reconfiguration commands with either an initial planar layout or a target configuration as input. We propose heuristic algorithms as solutions for the different scenarios, which we demonstrate by applying them to Mori, a modular origami robot, in simulation. The results show that our algorithms yield high-quality distribution schemes in reduced time, and are thus viable for real-time applications in modular robotic systems.

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