David G. Duff

Bio: David G. Duff is an academic researcher from PARC. The author has contributed to research in topics: Modular design & Self-reconfiguring modular robot. The author has an hindex of 18, co-authored 43 publications receiving 1825 citations. Previous affiliations of David G. Duff include Google & Xerox.

PolyBot: a modular reconfigurable robot

Abstract: Modular, self-reconfigurable robots show the promise of great versatility, robustness and low cost. The paper presents examples and issues in realizing those promises. PolyBot is a modular, self-reconfigurable system that is being used to explore the hardware reality of a robot with a large number of interchangeable modules. PolyBot has demonstrated the versatility promise, by implementing locomotion over a variety of terrain and manipulation versatility with a variety of objects. PolyBot is the first robot to demonstrate sequentially two topologically distinct locomotion modes by self-reconfiguration. PolyBot has raised issues regarding software scalability and hardware dependency and as the design evolves the issues of low cost and robustness will be resolved while exploring the potential of modular, self-reconfigurable robots.

Modular Reconfigurable Robots in Space Applications

Abstract: Robots used for tasks in space have strict requirements. Modular reconfigurable robots have a variety of attributes that are well suited to these conditions, including: serving as many different tools at once (saving weight), packing into compressed forms (saving space) and having high levels of redundancy (increasing robustness). In addition, self-reconfigurable systems can self-repair and adapt to changing or unanticipated conditions. This paper will describe such a self-reconfigurable modular robot: PolyBot. PolyBot has significant potential in the space manipulation and surface mobility class of applications for space.

Robotics: modular robots

Abstract: Modular reconfigurable robots-experimental systems made by interconnecting multiple, simple, similar units-can perform shape shifting. A robot made up of a chain of simple hinge joints could shape itself into a loop and move by rolling like a self-propelled tank tread; then break open the loop to form a serpentine configuration and slither under or over obstacles; and then rearrange its modules to "morph" into a multilegged spider, able to stride over rocks and bumpy terrain. This robot, dubbed PolyBot, is being built and experimented with at Xerox Palo Alto Research Center (PARC), in California. This paper describes the main features of PolyBot and how it works. Programming of PolyBot is also discussed

Evolution of PolyBot: A Modular Reconfigurable Robot

Abstract: Modular, self-reconfigurable robots show the promise of great versatility, robustness and low cost. This paper presents examples and issues in realizing those promises. PolyBot is a modular, self-reconfigurable system that is being used to explore the hardware reality of a robot with a large number of interchangeable modules. Three generations of PolyBot have been built over the last three years which include ever increasing levels of functionality and integration. PolyBot has shown versatility, by demonstrating locomotion over a variety of terrain and manipulating a variety of objects. PolyBot is the first robot to demonstrate sequentially two topologically distinct locomotion modes by self-reconfiguration. PolyBot has raised issues regarding software scalability and hardware dependency and as the design evolves the issues of low cost and robustness are being addressed while exploring the potential of modular, selfreconfigurable robots.

Robotic toy modular system

Abstract: A robotic module for a toy construction system includes a housing enclosing a gear mechanism and an actuator connected to a pivot mechanism to supply operational power for rotation. An energy storage device supplies power to the actuator, which rotates in response to instructions received from a control unit connected to the actuator. A connection plate forms a connection between at least two of the modules. At least one position sensor is provided to sense the arrangement of the modules connected together.

Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics]

Abstract: 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

PolyBot: a modular reconfigurable robot

Abstract: Modular, self-reconfigurable robots show the promise of great versatility, robustness and low cost. The paper presents examples and issues in realizing those promises. PolyBot is a modular, self-reconfigurable system that is being used to explore the hardware reality of a robot with a large number of interchangeable modules. PolyBot has demonstrated the versatility promise, by implementing locomotion over a variety of terrain and manipulation versatility with a variety of objects. PolyBot is the first robot to demonstrate sequentially two topologically distinct locomotion modes by self-reconfiguration. PolyBot has raised issues regarding software scalability and hardware dependency and as the design evolves the issues of low cost and robustness will be resolved while exploring the potential of modular, self-reconfigurable robots.

M-TRAN: self-reconfigurable modular robotic system

Abstract: In this paper, a novel robotic system called modular transformer (M-TRAN) is proposed. M-TRAN is a distributed, self-reconfigurable system composed of homogeneous robotic modules. The system can change its configuration by changing each module's position and connection. Each module is equipped with an onboard microprocessor, actuators, intermodule communication/power transmission devices and intermodule connection mechanisms. The special design of M-TRAN module realizes both reliable and quick self-reconfiguration and versatile robotic motion. For instance, M-TRAN is able to metamorphose into robotic configurations such as a legged machine and hereby generate coordinated walking motion without any human intervention. An actual system with ten modules was built and basic operations of self-reconfiguration and motion generation were examined through experiments. A series of software programs has also been developed to drive M-TRAN hardware, including a simulator of M-TRAN kinematics, a user interface to design appropriate configurations and motion sequences for given tasks, and an automatic motion planner for a regular cluster of M-TRAN modules. These software programs are integrated into the M-TRAN system supervised by a host computer. Several demonstrations have proven its capability as a self-reconfigurable robot.

Topobo: a constructive assembly system with kinetic memory

Abstract: We introduce Topobo, a 3D constructive assembly system embedded with kinetic memory, the ability to record and playback physical motion. Unique among modeling systems is Topobo's coincident physical input and output behaviors. By snapping together a combination of Passive (static) and Active (motorized) components, people can quickly assemble dynamic biomorphic forms like animals and skeletons with Topobo,animate those forms by pushing, pulling, and twisting them, and observe the system repeatedly play back those motions. For example, a dog can be constructed and then taught to gesture and walk by twisting its body and legs. The dog will then repeat those movements and walk repeatedly.Our evaluation of Topobo in classrooms with children ages 5-13 suggests that children develop affective relationships with Topobo creations and that their experimentation with Topobo allows them to learn about movement and animal locomotion through comparisons of their creations to their own bodies. Eighth grade science students' abilities to quickly develop various types of walking robots suggests that a tangible interface can support understanding how balance, leverage and gravity affect moving structures because the interface itself responds to the forces of nature that constrain such systems.