Journal ArticleDOI
Toward a scalable modular robotic system
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TLDR
A simple docking method using an onboard camera module and LEDs equipped on the modules, and a special modular configuration designed for docking, which absorbs positional errors are proposed.Abstract:
In this article, we propose a simple docking method using an onboard camera module. It has two key ideas: one is image processing using a camera module and LEDs equipped on the modules, and the other is a special modular configuration designed for docking, which absorbs positional errors. We also designed a self-reconfiguration sequence to integrate a docked robot into a periodic structure. The effectiveness of the proposed method is examined by docking/integration experiments using 18 modules.read more
Citations
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Journal ArticleDOI
Self-Assembly at the Macroscopic Scale
R. Gross,Marco Dorigo +1 more
TL;DR: This paper reports on the experience gained in the design of 21 systems displaying (physical) self-assembly of macroscopic components, exhibiting components ranging from passive mechanical parts to mobile robots.
Proceedings ArticleDOI
Emulating self-reconfigurable robots - design of the SMORES system
Jay Davey,Ngai Kwok,Mark Yim +2 more
TL;DR: The design of one system called SMORES (Self-assembling MOdular Robot for Extreme Shape-shifting) is introduced, capable of rearranging its modules in all three classes of reconfiguration; lattice style, chain style and mobile reconfigurations.
Journal ArticleDOI
Sambot: A Self-Assembly Modular Robot System
TL;DR: In this paper, the design and structure of a self-assembly modular robot (Sambot) are presented, where each module has its own autonomous mobility and can connect with other modules to form robotic structures with different manipulation abilities.
Journal ArticleDOI
Modular and reconfigurable mobile robotics
Paul M. Moubarak,Pinhas Ben-Tzvi +1 more
TL;DR: There is optimism that a more complete understanding of this field will serve as a starting ground for innovation and integration of modular and reconfigurable mobile robotics in the urban environment.
Journal ArticleDOI
Modular Robotic Systems: Characteristics and Applications
TL;DR: A novel framework called MITE is proposed to characterize both the properties and applications of MRS from four perspectives of Module, Information, Task, and Environment, based on more than 120 domain-specific features.
References
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Journal ArticleDOI
M-TRAN: self-reconfigurable modular robotic system
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.
Proceedings ArticleDOI
Modular ATRON: modules for a self-reconfigurable robot
TL;DR: The mechanical and electrical design of a new lattice based self-reconfigurable robot, called the ATRON, which consists of several fully self-contained robot modules, each having their own processing power, power supply, sensors and actuators is described.
Journal ArticleDOI
Connecting and disconnecting for chain self-reconfiguration with PolyBot
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.
Journal ArticleDOI
Self-reconfigurable robots
Satoshi Murata,Haruhisa Kurokawa +1 more
TL;DR: This "self-reconfigurable (SR) robot" exemplifies a new trend in robotics, indeed, the authors can now build various kinds of SR robots with off-the-shelf technologies of processors, actuators, and sensors.
Proceedings ArticleDOI
Docking among independent and autonomous CONRO self-reconfigurable robots
TL;DR: Methods for overcome the inevitable errors in the alignment by a novel and coordinated movements from both docking ends are developed and for the first time an actual docking between two independent CONRO robots each with multiple modules is accomplished.