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    Modular Robotics

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    Alina Mirela
    The document discusses modular robotics, including: 1) Modular robots are autonomous machines that can change their own shape by rearranging their parts to adapt to new situations or tasks. 2) They offer benefits like self-repair, low-cost production, and the ability to take on a variety of forms. However, they also have increased mechanical complexity. 3) Potential applications include space exploration, telepresence, and customizable tools. The field has progressed from early lattice and chain systems in the 1990s to current modular robots like PolyBot that can locomote, climb, and manipulate objects.

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    Modular Robotics

    Uploaded by

    Alina Mirela
    75 views20 pages
    The document discusses modular robotics, including: 1) Modular robots are autonomous machines that can change their own shape by rearranging their parts to adapt to new situations or tasks. 2) They offer benefits like self-repair, low-cost production, and the ability to take on a variety of forms. However, they also have increased mechanical complexity. 3) Potential applications include space exploration, telepresence, and customizable tools. The field has progressed from early lattice and chain systems in the 1990s to current modular robots like PolyBot that can locomote, climb, and manipulate objects.

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    The document discusses modular robotics, including: 1) Modular robots are autonomous machines that can change their own shape by rearranging their parts to adapt to new situations or tasks. 2) They offer benefits like self-repair, low-cost production, and the ability to take on a variety of forms. However, they also have increased mechanical complexity. 3) Potential applications include space exploration, telepresence, and customizable tools. The field has progressed from early lattice and chain systems in the 1990s to current modular robots like PolyBot that can locomote, climb, and manipulate objects.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    75 views20 pages

    Modular Robotics

    Uploaded by

    Alina Mirela
    The document discusses modular robotics, including: 1) Modular robots are autonomous machines that can change their own shape by rearranging their parts to adapt to new situations or tasks. 2) They offer benefits like self-repair, low-cost production, and the ability to take on a variety of forms. However, they also have increased mechanical complexity. 3) Potential applications include space exploration, telepresence, and customizable tools. The field has progressed from early lattice and chain systems in the 1990s to current modular robots like PolyBot that can locomote, climb, and manipulate objects.

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    Modular Robotics

    Student Presentation
    Christoph Schnfeld
    8schoenf@informatik.uni-hamburg.de
    07.12.2009
    Table of Contents
    Definition
    Why Modular Robots some Facts
    Motivation and Inspiration
    Disadvantages
    Application areas
    Space exploration
    Telepario
    Bucket of Stuff
    History
    Current Systems PolyBot
    Challenges and Solutions
    Future
    References
    Definition

    Self-Reconfiguring Modular Robotics, Modular


    self-reconfiguring robotic systems or self-
    reconfigurable modular robots are autonomous
    kinematic machines with variable morphology.
    Beyond conventional actuation, sensing and
    control typically found in fixed-morphology
    robots, self-reconfiguring robots are also able to
    deliberately change their own shape by rearranging
    the connectivity of their parts, in order to adapt to
    new circumstances, perform new tasks, or recover
    from damage.
    Why Modular Robots?

    Self-reconfiguring
    flexibility Variable morphology

    Low-budget product
    reproducibility Small components(robustness)
    A lot of Entities

    connectivity Entities are connected


    Motivation and Inspiration

    Economic
    Functional Advantages
    Advantages

    Complex
    Disassemble machines out
    Potentially Parts are
    More adaptive and of mass-
    more robust interchangable
    reassemble produced
    modules
    Motivation and Inspiration(2)

    Single modular robot is inferior Advantages are only apparent


    in performance to any single when considering multiple tasks
    custom robot tailored for a that would normally require a
    specific task. set of different robots.
    Disadvantages

    Disadvantages
    Increased mechanical
    Performance tradeoff and computational
    complexities
    Application areas

    Space exploration
    Telepario
    Bucket of stuff
    Space exploration

    Space
    Missions
    Highly
    Unforeseen volume and
    Self Repair
    Situations mass
    constrained
    Space exploration(2)
    Telepario

    Telepario

    Physical,three- Mimic the space and


    No need for virtual
    dimensinal replicas of apprearance of a person
    reality gear
    people or objects or object
    Bucket of Stuff
    Bucket of Stuff

    Consumers of
    the future Inspired by
    Modules can
    have a applications
    Long term do any task by
    container of and biological
    vision assuming the
    self- systems(cells,
    shape needed
    reconfigurable amino acids)
    modules
    History
    System Class, DOF Author Year
    Stochastic-3D Lattice, 0 3D White, Zykov, Lipson (Cornell) 2005
    Molecubes Chain, 1 3D Zykov, Mytilinaios, Lipson 2005
    (Cornell)
    Prog. Parts Lattice, 0 2D Klavins, (U. Washington) 2005
    Miche Lattice, 0 3D Rus et al., (MIT) 2006
    GZ-I Modules Chain, 1 3D Zhang & Gonzalez-Gomez (U. 2006
    Hamburg, UAM)
    Evolve Chain, 2 3D Chang Fanxi, Francis (NUS) 2008
    Odin Hybrid, 3 3D ?, Modular Robotics Research 200?
    Lab, USD
    History(2)

    History and state of the art


    Roots lies in the 1970s
    Basic concept of the connection mechanism was introduced in
    the late 1980s
    First lattice reconfiguration and chain based system in the early
    1990s
    The MTRAN II and III systems(chain+lattice)
    Able to achieve tasks more easily(chain)
    reconfiguration like a lattice system
    New Efforts in stochastic self-assembly and the look to issues in
    developing millions of modules
    Current Systems
    PolyBot
    Locomotion, climbing, manipulation, manual and self-reconfiguration

    Polypod
    For studying robot locomotion in general

    Telecube
    Each face can expand or retract and connect or disconnect from neighboring
    modules

    Proteo
    Rhombic dodecahedron, reconfiguring by rolling over egdes, only
    simulated so far

    Digital Clay
    Similar to Proteo, but without actuators, used as a 3D tactile user interface
    PolyBot
    PolyBot G2 with 24 modules in a four-legged spider configuration.
    Challenges and Solutions

    Application

    Planning
    and Hardware
    control design
    Challenges and Solutions(2)

    Grand Challenges
    Demonstration of a system with many
    units
    Robosphere
    Self replication
    Ultimate Construction
    Biofilter analogy
    Future?

    Nano Robots?
    Robots in human body?
    Autonomic self-driving cars?
    Robots as mass-ware?
    References
    www.wikipedia.de
    www.parc.com

    For your interest:

    http://www.modrobotics.com/
    http://modular.mmmi.sdu.dk/wiki/Main_Page
    http://www.youtube.com

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