3,856 research outputs found
Towards Python-based Domain-specific Languages for Self-reconfigurable Modular Robotics Research
This paper explores the role of operating system and high-level languages in
the development of software and domain-specific languages (DSLs) for
self-reconfigurable robotics. We review some of the current trends in
self-reconfigurable robotics and describe the development of a software system
for ATRON II which utilizes Linux and Python to significantly improve software
abstraction and portability while providing some basic features which could
prove useful when using Python, either stand-alone or via a DSL, on a
self-reconfigurable robot system. These features include transparent socket
communication, module identification, easy software transfer and reliable
module-to-module communication. The end result is a software platform for
modular robots that where appropriate builds on existing work in operating
systems, virtual machines, middleware and high-level languages.Comment: Presented at DSLRob 2011 (arXiv:1212.3308
Roles and Self-Reconfigurable Robots
Abstract. A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape. Programming a modular, self-reconfigurable robot is however a complicated task: the robot is essentially a real-time, distributed embedded system, where control and communication paths often are tightly coupled to the current physical configuration of the robot. To facilitate the task of programming modular, self-reconfigurable robots, we have developed a declarative, role-based language that allows the programmer to associate roles and behavior to structural elements in a modular robot. Based on the role declarations, a dedicated middleware for high-level distributed communication is generated, significantly simplifying the task of programming self-reconfigurable robots. Our language fully supports programming the ATRON self-reconfigurable robot, and has been used to implement several controllers running both on the physical modules and in simulation
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
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
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
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