This paper presents the mechanical design of a modular robot called the 3D M-Block, a 50mm cubic module capable of both independent and lattice-based locomotion. The first M-Blocks described in [1] could pivot about one axis of rotation only. In contrast, the 3D M-blocks can exert on demand both forward and backward torques about three orthogonal axes, for a total of six directions. The 3D M-Blocks transform these torques into pivoting motions which allow the new 3D M-Blocks to move more freely than their predecessors. Individual modules can employ pivoting motions to independently roll across a wide variety of surfaces as well as to join and move relative to other M-Blocks as part of a larger collective structure. The 3D M-Block maintains the same form factor and magnetic bonding system as the one-dimensional M-Blocks [1], but a new fabrication process supports more efficient and precise production. The 3D M-blocks provide a robust and capable modular self-reconfigurable robotic platform able to support swarm robot applications through individual module capabilities and self-reconfiguring robot applications using connected lattices of modules.

3D M-Blocks: Self-reconfiguring robots capable of locomotion via pivoting in three dimensions

This article presents a review on trends in modular reconfigurable robots, comparing the evolution of the features of the most significant robots over the years and focusing on the latest designs. These features are reconfiguration, docking, degrees of freedom, locomotion, control, communications, size, and powering. For each feature, some of the most relevant designs are presented and the current trends in the design are discussed.

Current trends in reconfigurable modular robots design

This article reviews the current state of the art in the development of modular reconfigurable robot (MRR) systems and suggests promising future research directions. A wide variety of MRR systems h...

Modular Reconfigurable Robotics

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.

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

Roombots extended: Challenges in the next generation of self-reconfigurable modular robots and their application in adaptive and assistive furniture

The design and implementation of a novel modular Self-Reconfigurable Robot (SRR) called UBot is reviewed in this paper. Firstly, the philosophy of hardware design is presented. The module is designed with criteria such as cubic-shape, homogeneity, and strong connections to fulfill the requirements of complex three-dimensional reconfiguration and locomotion. Each robotic module has two degrees of freedom and four connecting surfaces with hook-type connecting mechanism. A group of modules can transform between different configurations by changing their local connections, achieve complicated modes of motion and accomplish a large variety of tasks. Secondly, a 3D dynamics simulator for UBot SRR is developed, where robot locomotion and transfiguration simulation could be done. A worm-like robot evolution is performed with results of a variety of high-performance locomotion patterns. Finally, Experiments are performed about autonomous docking, multi-mode locomotion and self-reconfiguration. The validity of docking method, CPG-network control and reconfiguration planning method is verified through locomotion and transformation tests of configurations such as snake-type, quadruped walking-type, omni-directional cross-type and loop-type.

Design and implementation of UBot: A modular Self-Reconfigurable Robot

The most important feature of a Self-Reconfigurable Robot (SRR) is that it is reconfigurable and self-repairing. At the centre of these capabilities is autonomous docking. One difficulty for docking is the alignment between two robots. Current strategies overcome this by integrating a mechanical guiding device within the connecting mechanism. This increases the robustness of docking but compromises the flexibility of reconfiguration. In this paper, we present a new autonomous docking strategy that can overcome the drawbacks of current approaches. The new strategy uses a novel hook-type connecting mechanism and multi-sensory guidance. The hook-type connecting mechanism is strong and rigid for reliable physical connection between the modules. The multi-sensory docking strategy, which includes visual-sensor-guided rough positioning, Hall-sensor-guided fine positioning, and the locking between moving and target modules, guarantees robust docking without sacrificing reconfigurability. The proposed strategy is ...

https://journals.sagepub.com/doi/pdf/10.5772/58867

A Multi-Sensory Autonomous Docking Approach for a Self-Reconfigurable Robot without Mechanical Guidance:

Stochastic resonance for a bistable system with multiplicative noise and additive recycled noise

The stochastic resonance (SR) behavior for an underdamped bistable system with colored cross-correlated noise between multiplicative and additive noise is investigated. The stationary probability density is obtained under the condition of the detailed balance. The expressions for the signal-to-noise ratios (SNRs) for two initial states is deduced by applying two-state theory under the adiabatic condition. The analysis result indicates that the SR phenomenon takes place when the SNRs vary with the coupling strength and the correlation time of the cross-correlated noise. Double SR phenomenon occurs on SNRs’ curves with the increase of the strength of the additive noise. One resonance peak exists when the SNRs change with the damping coefficient and with the intensity of the multiplicative noise.

Xueyuan Zhang

Papers

Design and implementation of UBot: A modular Self-Reconfigurable Robot

A Multi-Sensory Autonomous Docking Approach for a Self-Reconfigurable Robot without Mechanical Guidance:

Stochastic resonance for a bistable system with multiplicative noise and additive recycled noise

Influence of colored cross-correlated noise on stochastic resonance for an underdamped bistable system subjected to multiplicative and additive noises