DISTRIBUTED LOCOMOTION ALGORITHMS FOR SELF-RECONFIGURABLE ROBOTS OPERATING ON ROUGH TERRAIN

Abstract: In this paper, we describe a set of distributed algorithms for self-reconfiguring modular robots that allow them to explore an area in parallel. The algorithms are based on geometric rules that each module evaluates independently relative to its local neighborhood. This paper concentrates on developing algorithms within this framework to enable travel over the widest
variety of terrain. In particular, we show how to perform straight-line motion, turning while on obstacles, climbing over tall obstacles, and tunneling under overhangs, all of which work for groups of arbitrary size. This last feature is important, as it also allows a large system of self-reconfiguring modules to divide up into several groups of various sizes, each of which is equally capable of motion and participation in the overall group task. We also discuss implementations and ways to improve efficiency and switching between tasks.

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Design of a Modular Self-Reconfigurable Robot

Posted on December 28, 2017January 2, 2018 by HTDNET Support Services

DESIGN OF A MODULAR SELF-RECONFIGURABLE ROBOT

Abstract: In this paper we examine the development of modular self-reconfigurable robots. A survey of existing modular robots is given. Some limitations of homogeneous design and connection mechanisms are discussed. Therefore, we propose a heterogeneous self-reconfigurable robot with genderless, fail-safe connecting mechanisms. We initially design three basic types (joint, power and special units) of module.

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Concurrent metamorphosis of hexagonal robot chains into simple connected configurations

Posted on December 28, 2017January 2, 2018 by HTDNET Support Services

CONCURRENT METAMORPHOSIS OF HEXAGONAL ROBOT CHAINS INTO SIMPLE CONNECTED CONFIGURATIONS

Abstract: The problem addressed is the distributed reconfiguration of a metamorphic robotic system composed of an arbitrary number of two dimensional hexagonal robots (modules) from specific initial to specific goal configurations. The initial configuration considered is a straight chain of robotic modules, while the goal configurations considered satisfy a more general “admissibility” condition. A centralized algorithm is described for determining whether an arbitrary goal configuration is admissible. We prove this algorithm correctly identifies admissible goal configurations and finds a “substrate path” within the goal configuration along which the modules can move to reach their positions in the goal. A second result of the paper is a distributed algorithm for reconfiguring a straight chain into an admissible goal configuration. Different heuristics are proposed to improve the performance of the reconfiguration algorithm and simulation results demonstrate the use of these heuristics.

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