A Vision-based Scheme for Kinematic Model Construction of Re-configurable Modular Robots

Re-configurable modular robotic (RMR) systems are advantageous for their reconfigurability and versatility. A new modular robot can be built for a specific task by using modules as building blocks. However, constructing a kinematic model for a newly conceived robot requires significant work. Due to the finite size of module-types, models of all module-types can be built individually and stored in a database beforehand. With this priori knowledge, the model construction process can be automated by detecting the modules and their corresponding interconnections. Previous literature proposed theoretical frameworks for constructing kinematic models of modular robots, assuming that such information was known a priori. While well-devised mechanisms and built-in sensors can be employed to detect these parameters automatically, they significantly complicate the module design and thus are expensive. In this paper, we propose a vision-based method to identify kinematic chains and automatically construct robot models for modular robots. Each module is affixed with augmented reality (AR) tags that are encoded with unique IDs. An image of a modular robot is taken and the detected modules are recognized by querying a database that maintains all module information. The poses of detected modules are used to compute: (i) the connection between modules and (ii) joint angles of joint-modules. Finally, the robot serial-link chain is identified and the kinematic model constructed and visualized. Our experimental results validate the effectiveness of our approach. While implementation with only our RMR is shown, our method can be applied to other RMRs where self-identification is not possible

Rapid Pole Climbing with a Quadrupedal Robot

This paper describes the development of a legged robot designed for general locomotion of complex terrain but specialized for dynamical, high-speed climbing of a uniformly convex cylindrical structure, such as an outdoor telephone pole. This robot, the RiSE V3 climbing machine—mass 5.4 kg, length 70 cm, excluding a 28 cm tail appendage—includes several novel mechanical features, including novel linkage designs for its legs and a non-backdrivable, energy-dense power transmission to enable high-speed climbing. We summarize the robot’s design and document a climbing behavior that achieves rapid ascent of a wooden telephone pole at 21 cm/s, a speed previously unachieved—and, we believe, heretofore impossible—with a robot of this scale. The behavioral gait of the robot employs the mechanical design to propel the body forward while passively maintaining yaw, pitch, and roll stability during climbing locomotion. The robot’s general-purpose legged design coupled with its specialized ability to quickly gain elevation and park at a vertical station silently with minimal energy consumption suggest potential applications including search and surveillance operations as well as ad hoc networking

The Problem of Adhesion Methods and Locomotion Mechanism Development for Wall-Climbing Robots

This review considers a problem in the development of mobile robot adhesion methods with vertical surfaces and the appropriate locomotion mechanism design. The evolution of adhesion methods for wall-climbing robots (based on friction, magnetic forces, air pressure, electrostatic adhesion, molecular forces, rheological properties of fluids and their combinations) and their locomotion principles (wheeled, tracked, walking, sliding framed and hybrid) is studied. Wall-climbing robots are classified according to the applications, adhesion methods and locomotion mechanisms. The advantages and disadvantages of various adhesion methods and locomotion mechanisms are analyzed in terms of mobility, noiselessness, autonomy and energy efficiency. Focus is placed on the physical and technical aspects of the adhesion methods and the possibility of combining adhesion and locomotion methods

Concept development of installation technology for rainforest audio monitoring devices

Rainforest deforestation is the second largest anthropogenic source of greenhouse gas emission into the atmosphere, after the burning of fossil fuels. Up to 90 per cent of tropical rainforest deforestation is conducted illegally. Rainforest Connection endeavour to reduce this number through the installation of up-recycled Audio Monitoring Devices installed high in the trees of the forest. The presented work aims to assist Rainforest Connection in their mission through the application of concept development methods for the enhancement of installation operations performed in the field. Due to the nature of the company a premium is placed on immediately implementable techniques. In response, both incremental improvements to current operations, through the adoption of industry techniques and commercially available equipment, and novel generated solutions are provided. The paper recommends the employment of extendable carbon fibre poles for the installation of the Audio Monitoring Devices as a novel solution and identifies a path forward for further development of the installation technique. The adaption of commercial telescopic carbon fibre poles from the window washing industry repre-sents an additional tool for field operations that has the potential to save hours per temporarily installed device; while providing an immediate pathway for field trials in Ecuador at a low investment cost. A segment carbon fibre pole is recommended for future development of high elevation, permanent installations performed from the ground

Tree Climbing Limb Saw

This document is the comprehensive report for the Tree Climbing Limb Saw Senior Project. The purpose of the Tree Climbing Limb Saw project, completed by mechanical engineers Andrew Bray, Aimee Chiem, Drew Robles, and Parker Tenney, is to remove low-hanging branches (\u3c15 \u3eft) to prevent forest fires from travelling up into the canopy, where wind can carry embers for miles. An RC car was heavily modified to create a solution for this problem. A chainsaw was also mounted to deal with the cutting part of the problem. Creating a project which aims to solve this problem is a great step towards innovation reaching the wildfire sector. With increased innovation in the field, wildfires may become easier to control. This comprehensive report includes the initial Scope of Work report of this project, followed by the Preliminary Design Review, Critical Design Review, and Final Design Review Report

The use of clamping grips and friction pads by tree frogs for climbing curved surfaces

Most studies on the adhesive mechanisms of climbing animals have addressed attachment against flat surfaces, yet many animals can climb highly curved surfaces, like twigs and small branches. Here we investigated whether tree frogs use a clamping grip by recording the ground reaction forces on a cylindrical object with either a smooth or anti-adhesive, rough surface. Furthermore, we measured the contact area of fore and hindlimbs against differently sized transparent cylinders and the forces of individual pads and subarticular tubercles in restrained animals. Our study revealed that frogs use friction and normal forces of roughly a similar magnitude for holding on to cylindrical objects. When challenged with climbing a non-adhesive surface, the compressive forces between opposite legs nearly doubled, indicating a stronger clamping grip. In contrast to climbing flat surfaces, frogs increased the contact area on all limbs by engaging not just adhesive pads but also subarticular tubercles on curved surfaces. Our force measurements showed that tubercles can withstand larger shear stresses than pads. SEM images of tubercles revealed a similar structure to that of toe pads including the presence of nanopillars, though channels surrounding epithelial cells were less pronounced. The tubercles' smaller size, proximal location on the toes and shallow cells make them probably less prone to buckling and thus ideal for gripping curved surfaces

Modular Biped Robotic Base

This report contains the final developments and research involved with the modular biped robotic base. A need was first identified in 2011 when President Obama announced the National Robotics Initiative, an initiative focused on the funding of robotic development to work alongside or cooperatively with humans. This scope of this project concerns building a robotic base modeled after human legs and hips, capable of interfacing with future modular subsystems depending on what tasks are trying to be accomplished. Firstly, a mathematical torque simulation of the hip, knee, and ankle joints was developed in MATLAB. Using this information, complimentary actuators and driver circuitry were selected. A 3-D model of the leg and hip structure was drawn and simulated in SOLIDWORKS. Communication between the motors and the master controller was developed to provide precise control over each individual motor. After individual motor testing, a leg model was assembled and troubleshooting took place to determine proper alignment and placement of position sensors. The legs and hips were then fully integrated. A successful model was achieved capable of walking with full integration with subsystems of various types

Constructing living buildings: a review of relevant technologies for a novel application of biohybrid robotics

Biohybrid robotics takes an engineering approach to the expansion and exploitation of biological behaviours for application to automated tasks. Here, we identify the construction of living buildings and infrastructure as a high-potential application domain for biohybrid robotics, and review technological advances relevant to its future development. Construction, civil infrastructure maintenance and building occupancy in the last decades have comprised a major portion of economic production, energy consumption and carbon emissions. Integrating biological organisms into automated construction tasks and permanent building components therefore has high potential for impact. Live materials can provide several advantages over standard synthetic construction materials, including self-repair of damage, increase rather than degradation of structural performance over time, resilience to corrosive environments, support of biodiversity, and mitigation of urban heat islands. Here, we review relevant technologies, which are currently disparate. They span robotics, self-organizing systems, artificial life, construction automation, structural engineering, architecture, bioengineering, biomaterials, and molecular and cellular biology. In these disciplines, developments relevant to biohybrid construction and living buildings are in the early stages, and typically are not exchanged between disciplines. We, therefore, consider this review useful to the future development of biohybrid engineering for this highly interdisciplinary application.publishe