course title: bio-inspired robotics -...
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Course Title:Bio-Inspired RoboticsMohammad Iqbal
(Thanks to Masoud Asadpour)
Lecture: Modular robots
In the name of God
Most of the slides have been taken from the presentation of prof. A. Ijspeert
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Modular/reconfigurable robotics: characteristics
Robots made of multiple unitsPossibility of (self) reconfigurationVersatility, robustness against lesionsSome similarity with multi-cellular biological systems
CONRO, USC
MTRAN, AIST
TELECUBE, Xerox PARC POLYBOT, Xerox PARC
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One example: M-TRAN (AIST)
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A bit of history: Mark Yim 1994Mark Yim developed the Polypod during his thesis at Standford, and then continued working on them at Xerox PARCPolypod has two type of modules (two dof)
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Polybot
Continuation of PolypodDeveloped at PARC
Generation I Generation II Generation III
http://www2.parc.com/spl/projects/modrobots/chain/polybot/index.html
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Crystalline robot: Dartmouth Robotics Lab
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Atron (European project Hydra)
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A bit of history: USC’s CONRO 2000
(Shen et al 2002)
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A bit of history: AIST’s MTRAN 2000
(Murata et al 2002)
One of the most advanced projects to date
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Superbot: Next generation of CONRO at USC
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Molecube at Cornell University
This chain self-reconfiguring system was built to physically demonstrate artificial kinematic self-reproduction. Each module is a 0.65 kg cube with 100 mm long edges and one rotational degree of freedom. The axis of rotation is aligned with the cube's longest diagonal.
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Interesting aspects
ManufacturabilityRedundancyReparabilityRobustnessEase of design
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Different notions and concepts:homogeneous/heterogeneous
A modular robotics systems can be:HomogeneousHeterogeneous
Homogeneous: all modules are identical in design (not necessary in control)Heterogeneous: modules differ, some can be specialized for specific tasks/skills,…A modular robot with N different types of modules is called N-modular. (therefore homogeneous = unit-modular)
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Different notions and concepts:homogeneous/heterogeneous
Most modular robots are homogeneous.Example of a heterogeneous system: Molecule robot, Dartmouth Robotics Lab. This robotic system is 2-modular:
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Different notions and concepts:homogeneous/heterogeneous
Advantages of homogeneous: modules can easily be changed, control is generally simpler, easier/cheaper to manufacture
Advantages of heterogeneous: robots can possibly be more compact, cheaper to design (expensive actuators, sensors are only used where needed),…
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Different notions and concepts:Lattice type versus Chain type
Lattice type:Groups of modules tend to look like crystals:
Modules fill a crystal structureModules possess the spatial symmetry of the corresponding crystal structure
Self-reconfiguration with modules, moving to adjacent positions in the latticeLocomotion through self-reconfiguration, e.g. like a slow flow over the ground
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Different notions and concepts:Chain type
Group of modules tend to have animal-like structures:
They are often attached in chains (limbs) , They have multiple limbs
Self-reconfiguration via attachments and detachments of modules at end of chains Locomotion through the activation of the modules (of the limbs), e.g. like animals
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Challenges in modular robotics
EnergyMechanicsControlCommunication
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Challenges:Mechanics
Many important aspects:Type of actuators (e.g. linear, rotational),Number of actuators, Axes of rotation, translationStructure and casingType of connection mechanism
Limits on strength, precision, and field robustness (both mechanical and electrical) of bonding/docking interfaces between modulesLimits on motor power, motion precision and energetic efficiency of units, (i.e. specific power, specific torque)
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Challenges:Control
Algorithms for parallel-motion, for large scale manipulation, and locomotionAlgorithms for robustly handling a variety of failuremodes, from misalignments, dead-units (not responding, not releasing) to units that behave erratically.Algorithms that determine the optimal configuration for a given taskAlgorithms for optimal (time, energy) reconfiguration plan
Self-reconfiguring systems have more tightly coupled hardware and software than any other existing system
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Challenges:Communication
Different modes of communication: through electrical connections (e.g. a bus), wireless, through the environment (stigmergy)
Communication is important for: knowing the structure of a group of units, knowing its internal states, for coordinating locomotion and movements, for coordinating self-reconfiguration, for discovering lesions, for coordinating self-repair,…
Efficient and scalable (asynchronous) communication among multiple units