A Distributed Reconfiguration Planning Algorithm for Modular Robots

In this paper, the module hardware design is addressed and a wireless communication algorithm is proposed for the motion coordination and reconfiguration planning of snake-type robots. The objective of the modular design and the planning algorithm is on self-intelligence and distributed feature for the adding of new modules and the removal of broken parts during motion reconfiguration. Particularly, the automatic connector and wireless communication are implemented on each module, and a planning algorithm for motion reconfiguration is proposed for determining the physical position and acting role of the sequential connected modules in a snake-like robot. Finally, two types of case studies are conducted for testing the communication feasibility and motion reconfigurability of the proposed robotic modules.

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Full-resolution reconfiguration planning for heterogeneous cube-shaped modular robots with only sliding motion primitive

2016 IEEE International Conference on Robotics and Automation (ICRA) ◽

10.1109/icra.2016.7487730 ◽

2016 ◽

Cited By ~ 6

Author(s):

Hiroshi Kawano

Keyword(s):

Modular Robots ◽

Sliding Motion ◽

Full Resolution ◽

Motion Primitive ◽

Reconfiguration Planning

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Optimal Distribution of Active Modules in Reconfiguration Planning of Modular Robots

Journal of Mechanisms and Robotics ◽

10.1115/1.4041972 ◽

2018 ◽

Vol 11 (1) ◽

Cited By ~ 2

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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On Optimal Planning for DNA Nanomechanical Robots

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.983.67 ◽

2014 ◽

Vol 983 ◽

pp. 67-70

Author(s):

Vladimir Popov

Keyword(s):

Neural Networks ◽

Modular Robots ◽

Planning Problem ◽

Optimal Planning ◽

Intelligent Algorithm ◽

Virtual Force ◽

Optimal Reconfiguration ◽

Genetic Sequences ◽

Reconfiguration Planning ◽

Chain Type

In this paper, we consider the optimal reconfiguration planning problem of finding the least number of reconfiguration steps to transform between two configurations for chain-type modular robots. We propose an intelligent algorithm for solution of the problem. In particular, we use the set of parameterized k-covers problem and the approximate period problem to detect periodic regularities in genetic sequences of DNA nanomechanical robots. We try to use similar reconfiguration actions for similar parts of genetic sequences. We consider an artificial physics optimization algorithm. We use Runge Kutta neural networks for the prediction of virtual force law.

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Kinematics and Force Optimization for Efficient Self-Reconfiguration of Chain-Type Modular Robots

Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2005-84612 ◽

2005 ◽

Author(s):

Carl A. Nelson ◽

Raymond J. Cipra

Keyword(s):

Mechanical Energy ◽

Primary Objective ◽

Modular Robots ◽

Kinematic Modeling ◽

Unified Framework ◽

Kinematic Constraint ◽

Modeling And Analysis ◽

Force Optimization ◽

Reconfiguration Planning ◽

Chain Type

The problem of self-reconfiguration planning for chain-type unit-modular robots is a complex one, with many issues yet to be successfully addressed. This paper describes an approach to several sub-problems associated with self-reconfiguration, namely kinematic modeling and analysis, including kinematic constraint satisfaction, and load analysis and redistribution. These issues are addressed in a unified framework whose primary objective is minimization of the time and mechanical energy expended during reconfiguration. Computer simulation efforts are described and results presented.

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