A new meta-module for efficient reconfiguration of hinged-units modular robots

We present a robust and compact meta-module for edge-hinged modular robot units such as M-TRAN, SuperBot, SMORES, UBot, PolyBot and CKBot, as well as for central-point-hinged ones such as Molecubes and Roombots. Thanks to the rotational degrees of freedom of these units, the novel meta-module is able to expand and contract, as to double/halve its length in each dimension. Moreover, for a large class of edge-hinged robots the proposed meta-module also performs the scrunch/relax and transfer operations required by any tunneling-based reconfiguration strategy, such as those designed for Crystalline and Telecube robots. These results make it possible to apply efficient geometric reconfiguration algorithms to this type of robots. We prove the size of this new meta-module to be optimal. Its robustness and performance substantially improve over previous results.Peer ReviewedPostprint (author's final draft

Modular Self-Reconfigurable Robot Systems

The field of modular self-reconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology. Modular self-reconfigurable systems have the promise of making significant technological advances to the field of robotics in general. Their promise of high versatility, high value, and high robustness may lead to a radical change in automation. Currently, a number of researchers have been addressing many of the challenges. While some progress has been made, it is clear that many challenges still exist. By illustrating several of the outstanding issues as grand challenges that have been collaboratively written by a large number of researchers in this field, this article has shown several of the key directions for the future of this growing fiel

Motion Planning and Reconfiguration for Systems of Multiple Objects

This chapter surveys some recent results on motion planning and reconfiguration for systems of multiple objects and for modular systems with applications in robotics.

Geometric constraints and motion branch variations for reconfiguration of single-loop linkages with mobility one

This paper explores essence of geometric constraints induced reconfiguration of single-loop kinematic chains with mobility one. Reconfigurable kinematic chains are firstly classified into four categories in light of variations of parameters in the Chebychev–Grübler–Kutzbach mobility criterion. Within these four categories, single-loop kinematic chains with mobility one but distinct motion branches are further classified in accordance with degeneration of degree-of-freedom of certain revolute joints. With the essence of reconfiguration, the interrelationship of motion-branch changes through constraint singularity induced transitory positions of reconfigurable single-loop linkages is revealed in the context of reciprocity of screws. Four basic geometric constraints leading to transitory positions are explored by analysing the Bennett plano-spherical linkage, a kinematic embodiment of Grassmann varieties. Geometric constraints induced screw-system variation and motion branch changes of a novel asymmetric 7R linkage and the line- and plane-symmetric Bricard 6R linkage with capability of reconfiguring their motion branches are subsequently analysed for interpreting the fundamentals explored

Heterogeneous Self-Reconfiguring Robotics: Ph.D. Thesis Proposal

Self-reconfiguring robots are modular systems that can change shape, or reconfigure, to match structure to task. They comprise many small, discrete, often identical modules that connect together and that are minimally actuated. Global shape transformation is achieved by composing local motions. Systems with a single module type, known as homogeneous systems, gain fault tolerance, robustness and low production cost from module interchangeability. However, we are interested in heterogeneous systems, which include multiple types of modules such as those with sensors, batteries or wheels. We believe that heterogeneous systems offer the same benefits as homogeneous systems with the added ability to match not only structure to task, but also capability to task. Although significant results have been achieved in understanding homogeneous systems, research in heterogeneous systems is challenging as key algorithmic issues remain unexplored. We propose in this thesis to investigate questions in four main areas: 1) how to classify heterogeneous systems, 2) how to develop efficient heterogeneous reconfiguration algorithms with desired characteristics, 3) how to characterize the complexity of key algorithmic problems, and 4) how to apply these heterogeneous algorithms to perform useful new tasks in simulation and in the physical world. Our goal is to develop an algorithmic basis for heterogeneous systems. This has theoretical significance in that it addresses a major open problem in the field, and practical significance in providing self-reconfiguring robots with increased capabilities

A distributed self-reconfiguration algorithm for cylindrical lattice-based modular robots

International audienceModular self-reconfigurable robots are composed of independent connected modules which can self-rearrange their connectivity using processing, communication and motion capabilities, in order to change the overall robot structure. In this paper, we consider rolling cylindrical modules arranged in a two-dimensional vertical hexagonal lattice. We propose a parallel, asynchronous and fully decentralized distributed algorithm to self-reconfigure robots from an initial configuration to a goal one. We evaluate our algorithm on the millimeter-scale cylindrical robots, developed in the Claytronics project, through simulation of large ensembles composed of up to ten thousand modules. We show the effectiveness of our algorithm and study its performance in terms of communications, movements and execution time. Our observations indicate that the number of communications, the number of movements and the execution time of our algorithm is highly predictable. Furthermore, we observe execution times that are linear in the size of the goal shape

A new meta-module design for efficient reconfiguration of modular robots

This is a post-peer-review, pre-copyedit version of an article published in Autonomous Robots. The final authenticated version is available online at: http://dx.doi.org/10.1007/s10514-021-09977-6We propose a new meta-module design for two important classes of modular robots. The new metamodule is three-dimensional, robust and compact, improving on the previously proposed one. It applies to socalled “edge-hinged” modular robot units, such as MTRAN, SuperBot, SMORES, UBot, PolyBot and CKBot, as well as to so-called “central-point-hinged” modular robot units, which include Molecubes and Roombots. The new meta-module uses the rotational degrees of freedom of these two types of robot units in order to expand and contract, as to double or halve its length in each of the two directions of its three dimensions, therefore simulating the capabilities of Crystalline and Telecube robots. Furthermore, in the edge-hinged case we prove that the novel meta-module can also perform the scrunch, relax and transfer moves that are necessary in any tunnelingbased reconfiguration algorithm for expanding/contracting modular robots such as Crystalline and Telecube. This implies that the use of meta-meta-modules is unnecessary, and that currently existing efficient reconfiguration algorithms can be applied to a much larger set of modular robots than initially intended.This project has received funding from the European Union’s Horizon 2020 research and innovation programme under the Marie Sk lodowska-Curie grant agreement No 734922. I.P. was supported by the Austrian Science Fund (FWF): W1230. V.S. and R.S. were supported by projects MINECO MTM2015-63791-R and Gen. Cat. 2017SGR1640. R.S. was also supported by MINECO through the Ram´on y Cajal program.Peer ReviewedPostprint (published version

SUPERBOT: A Deployable, Multi-Functional, and Modular Self-Reconfigurable Robotic System

Abstract – Self-reconfigurable robots are modular robots that can autonomously change their shape and size to meet specific operational demands. Recently, there has been a great interest in using self-reconfigurable robots in applications such as reconnaissance, rescue missions, and space applications. Designing and controlling self-reconfigurable robots is a difficult task. Hence, the research has primarily been focused on developing systems that can function in a controlled environment. This paper presents a novel self-reconfigurable robotic system called SuperBot, which addresses the challenges of building and controlling deployable self-reconfigurable robots. Six prototype modules have been built and preliminary experimental results demonstrate that SuperBot is a flexible and powerful system that can be used in challenging realworld applications