An improved compliant joint design of a modular robot for descending big obstacles
TL;DR: This work focuses on enhancing step descending ability of the modular robot proposed in [16], and proposes a systematic design of compliant joint for step descent that is successful in climbing and descending obstacles of dimension 17 cm.
Abstract: This work focuses on enhancing step descending ability of the modular robot proposed in [16]. The proposed robot consists of three modules connected with each other through passive joints. It is propelled using an active pair of wheels per module. Since there are no actuators at the joints, the joints are not susceptible to losing operability while traversing on rugged terrain. However with the absence of actuators, we face the issue of the robot toppling over when an abnormally large obstacle is encountered. This shortcoming is overcome with the use of compliant joints. The compliant joints are designed by employing springs of optimal stiffness, which is calculated through an optimization formulation aided with the constraints presented by the static analysis of the robot. The novelty lies in the systematic design of compliant joint for step descent. The robot is successful in climbing and descending obstacles of dimension 17 cm. Simulations of the mathematically modelled robot are carried out. The results from the same are validated on a working prototype and presented.
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12 Sep 2017
TL;DR: A context-based approach to coalition creation in human-robot cyber-physical systems and a point exploring and obstacles overcoming scenario has been chosen and implemented.
Abstract: The paper presents a context-based approach to coalition creation in human-robot cyber-physical systems. Cyber-physical systems tightly integrate physical and information spaces based on interactions between these spaces in real time. Mobile robots and humans are exchange information with each other in information space while their physical interaction occurs in physical space. The information space is organized based on Smart-M3 platform. This platform allows to organize ontology-based information and knowledge sharing for various participants based on publication subscription mechanism. For semantic interoperability support the ontology is used for problem domain modelling. The ontology formally represents knowledge as a set of concepts within a domain, using a shared vocabulary to denote the types, properties, and interrelationships of those concepts. For the implementation the point exploring and obstacles overcoming scenario has been chosen and implemented. This scenario covers two base cases for coalition creation: robot-robot and robot-human. Mobile robots have been constructed based on Lego Mindstorms EV3 Kit.
6 citations
TL;DR: An approach to ontology-based mobile robots interaction for coalition creation based on cyber-physical-social system concept where the physical devices interact in smart space with each other and with humans for implementing joint actions in physical space is presented.
Abstract: Popularity of research in the area of robotics over the last years opens new tasks to develop in the area of intelligent behavior of robots for coalition creation and joint tasks solving by them. T...
3 citations
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TL;DR: Several of the key directions for the future of modular self-reconfigurable robotic systems, including the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology are shown.
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
903 citations
"An improved compliant joint design ..." refers background in this paper
...It is important that USAR robots designed for this purpose Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for pro.t or commercial advantage and that copies bear this…...
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TL;DR: The tragedy of September 11th 2001 at the World Trade Center is likely to propel search-and-rescue robotics into its next stage, just as the Kobe earthquake and the Oklahoma City bombing were the catalysts for this research domain.
Abstract: The tragedy of September 11th 2001 at the World Trade Center is likely to propel search-and-rescue robotics into its next stage, just as the Kobe earthquake and the Oklahoma City bombing were the catalysts for this research domain. Tragedy hasn't been the only motivator for urban search-and-rescue advancements in the USA and Japan; international competition has motivated both countries, first with RoboCup Soccer and more recently with RoboCup Rescue. We may see inexpensive urban search-and-rescue robots mass-produced within five years if advances in hardware and software keep up.
196 citations
"An improved compliant joint design ..." refers background in this paper
...…Robotics Research Lab Robotics Research Lab Department of Mechanical IIIT Hyderabad IIIT Hyderabad Engineering Gachibowli, Hyderabad, TS, Gachibowli, Hyderabad, TS, Carnegie Melon University 500032, India500032, IndiaPittsburgh, PA, 15213, USA phaniteja.sp@gmail.com…...
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01 Jan 2004
TL;DR: A new rescue robot platform is reported, constructed by connecting multiple crawler vehicles serially, resulting a long and thin structure so that it can enter narrow space.
Abstract: In this paper we report the development of a new rescue robot platform. The robot is constructed by connecting multiple crawler vehicles serially, resulting a long and thin structure so that it can enter narrow space. The units are connected by 2-DOF active joints and 3-DOF passive joints, so that the robot can have both the capability to climb over obstacles as well as adaptation to irregular surfaces. Basic steering and experiments for the robot are also shown.
178 citations
TL;DR: This work is building on Millibots, semiautonomous, tracked mobile sensing/communication platforms at the 5-cm scale previously developed at Carnegie Mellon University, and focuses on the development, design, and construction of the electromechanical hardware for the Millibot Train.
Abstract: The objective of this work is to enhance the mobility of small mobile robots by enabling them to link into a train configuration capable of crossing relatively large obstacles. In particular, we are building on Millibots, semiautonomous, tracked mobile sensing/communication platforms at the 5-cm scale previously developed at Carnegie Mellon University. The Millibot Train concept provides couplers that allow the Millibot modules to engage/disengage under computer control and joint actuators that allow lifting of one module by another and control of the whole train shape in two dimensions. A manually configurable train prototype demonstrated the ability to climb standard stairs and vertical steps nearly half the train length. A fully functional module with powered joints has been developed and several have been built and tested. Construction of a set of six modules is well underway and will allow testing of the complete train in the near future. This paper focuses on the development, design, and construction of the electromechanical hardware for the Millibot Train.
145 citations
Additional excerpts
...ISBN 978-1-4503-3356-6/15/07. . . $15.00 DOI: http://dx.doi.org/10.1145/2783449.2783518 Figure 1: Di.erent types of obstacles are shown here....
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TL;DR: Several research groups are exploring the idea of robots that rely on cloud computing infrastructure to access vast amounts of processing power and data.
Abstract: Several research groups are exploring the idea of robots that rely on cloud computing infrastructure to access vast amounts of processing power and data. This approach, which some are calling "cloud robotics," would allow robots to off-load compute-intensive tasks like image processing and voice recognition and even download new skills instantly. A Google researcher argues that cloud computing could make robots smaller, cheaper, and smarter.
130 citations