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Author

Kimon Roufas

Other affiliations: Xerox
Bio: Kimon Roufas 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 13, co-authored 21 publications receiving 1632 citations. Previous affiliations of Kimon Roufas include Xerox.

Papers
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Proceedings ArticleDOI
Mark Yim1, David G. Duff1, Kimon Roufas1
24 Apr 2000
TL;DR: PolyBot is the first robot to demonstrate sequentially two topologically distinct locomotion modes by self-reconfiguration, and as the design evolves the issues of low cost and robustness will be resolved while exploring the potential of modular, self- reconfigurable robots.
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.

703 citations

Journal ArticleDOI
Mark Yim1, Kimon Roufas1, David G. Duff1, Ying Zhang1, Craig Eldershaw1, Sam Homans1 
TL;DR: PolyBot has significant potential in the space manipulation and surface mobility class of applications for space and can self-repair and adapt to changing or unanticipated conditions.
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.

276 citations

Journal ArticleDOI
Mark Yim1, Ying Zhang1, Kimon Roufas1, D. Duff1, Craig Eldershaw1 
TL;DR: In this article, a three-phase docking process is described that utilizes both open-and closed-loop techniques, and it has been shown to work with an early version of the system.
Abstract: Chain modular robots form systems with many degrees of freedom which are capable of being reconfigured to form arbitrary chain-based topologies. This reconfiguration requires the detaching of modules from one point in the system and reattaching at another. The internal errors in the system (especially with large numbers of modules) are such that accurate movement of chain ends, required for the attaching of modules, can be extremely difficult. A three-phase docking process is described that utilizes both open- and closed-loop techniques. This process has been shown to work with an early version. Issues raised during this testing have been addressed in a later version. Discussion of these issues, their solutions, and preliminary results of the testing the latest version are given.

222 citations

Patent
Markus P. J. Fromherz1, David K. Biegelsen1, Mark Yim1, Kimon Roufas1, Daniel G. Bobrow1 
04 Feb 2003
TL;DR: In this article, a frameless media path module is provided for a media processing system feeding media streams through a media path structured for serial or parallel flows, which includes a plurality of media guides and not less than two media transport nips operated by at least one actuator.
Abstract: A frameless media path module is provided for a media processing system feeding media streams through a media path structured for serial or parallel flows. The frameless media path module includes a plurality of media guides and not less than two media transport nips operated by at least one actuator. Means is included for attaching the frameless media path module to a supporting structure. Media state sensing electronics detect media edge or relative motion and intermodule electrical communication capability is provided.

113 citations

Book ChapterDOI
Kimon Roufas1, Ying Zhang1, D. Duff1, Mark Yim1
11 Dec 2000
TL;DR: This paper presents an easy and inexpensive implementation of a six DOF offset sensing between two plates using four commercial-off-the-shelf (COTS) infrared (IR) light emitting diode (LED) emitters and two COTS IR receivers on each of two docking plates.
Abstract: Six DOF offset sensing between two plates is important for automatic docking mechanisms. This paper presents an easy and inexpensive implementation of such a system using four commercial-off-the-shelf (COTS) infrared (IR) light emitting diode (LED) emitters and two COTS IR receivers on each of two docking plates. The angular intensity distribution of an emitter and the sensitivity distribution of a receiver allow for estimation of the angle and distance between them. Simple experiments have been conducted indicating that such a setup is able to give positional offset in any of 6 degrees of error (x, y, z, pitch, roll, and yaw) within a range. A theoretical framework is also established using least squares minimization. The theoretical framework is general and applies to other configurations of emitter and receiver parts and positioning.

56 citations


Cited by
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Journal ArticleDOI
TL;DR: A novel robotic system called modular transformer (M-TRAN) is proposed, a distributed, self-reconfigurable system composed of homogeneous robotic modules that is able to metamorphose into robotic configurations such as a legged machine and generate coordinated walking motion without any human intervention.
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.

552 citations

Proceedings ArticleDOI
25 Apr 2004
TL;DR: 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.
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.

494 citations

Journal ArticleDOI
TL;DR: A new robotic concept called swarm-bot is introduced in which the collective interaction exploited by the swarm intelligence mechanism goes beyond the control layer and is extended to the physical level, which implies the addition of new mechanical functionalities on the single robot, together with new electronics and software to manage it.
Abstract: The swarm intelligence paradigm has proven to have very interesting properties such as robustness, flexibility and ability to solve complex problems exploiting parallelism and self-organization. Several robotics implementations of this paradigm confirm that these properties can be exploited for the control of a population of physically independent mobile robots. The work presented here introduces a new robotic concept called swarm-bot in which the collective interaction exploited by the swarm intelligence mechanism goes beyond the control layer and is extended to the physical level. This implies the addition of new mechanical functionalities on the single robot, together with new electronics and software to manage it. These new functionalities, even if not directly related to mobility and navigation, allow to address complex mobile robotics problems, such as extreme all-terrain exploration. The work shows also how this new concept is investigated using a simulation tool (swarmbot3d) specifically developed for quickly designing and evaluating new control algorithms. Experimental work shows how the simulated detailed representation of one s-bot has been calibrated to match the behaviour of the real robot.

364 citations

Proceedings ArticleDOI
01 Oct 2006
TL;DR: This paper presents a novel self-reconfigurable robotic system called SuperBot, which addresses the challenges of building and controlling deployable self- reconfigurable robots.
Abstract: Self-reconfigurable robots are modular robots that can autonomously change their shape and size to meet specific operational demands. Recently, there has been a great interest in using self-reconfigurable robots in applications such as reconnaissance, rescue missions, and space applications. Designing and controlling self-reconfigurable robots is a difficult task. Hence, the research has primarily been focused on developing systems that can function in a controlled environment. This paper presents a novel self-reconfigurable robotic system called SuperBot, which addresses the challenges of building and controlling deployable self-reconfigurable robots. Six prototype modules have been built and preliminary experimental results demonstrate that SuperBot is a flexible and powerful system that can be used in challenging real-world applications.

322 citations