Modular Robots Modular Robots by D. Dibbern and A. Werdermann by - - PowerPoint PPT Presentation

▶
modular robots modular robots
SMART_READER_LITE
LIVE PREVIEW

Modular Robots Modular Robots by D. Dibbern and A. Werdermann by - - PowerPoint PPT Presentation

Oct 28, 2023 210 likes •619 views

Modular Robots Modular Robots by D. Dibbern and A. Werdermann by D. Dibbern and A. Werdermann by D.Dibbern and A. Werdermann Introduction to modular robots Introduction Definition History General Research Challenges

slide-1
SLIDE 1

by D.Dibbern and A. Werdermann

Modular Robots Modular Robots

by D. Dibbern and A. Werdermann by D. Dibbern and A. Werdermann

slide-2
SLIDE 2

by D.Dibbern and A. Werdermann

Introduction to modular robots

  • Introduction
  • Definition
  • History
  • General
  • Research Challenges
  • Future
slide-3
SLIDE 3

by D.Dibbern and A. Werdermann

Wikipedia Definition

  • 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.

slide-4
SLIDE 4

by D.Dibbern and A. Werdermann

Our Own Definition

  • A modular robot is a compound of several

modules with the intention of solving a particular task that it was designed for. The robot only exist for as long as his current structure is able to solve his tasks. Otherwise it may change its structure to be able to solve a different task or simply disband and create one

  • r more new robots or be part of a larger robot.
slide-5
SLIDE 5

by D.Dibbern and A. Werdermann

History Overview

  • CEBOT (1988, Tsukuba)
  • PolyPod (1993, Stanford)
  • Molecule (1998, Dartmouth)
  • Telecube (1998, PARC)
  • Crystal (1999, Dartmouth)
  • PolyBot G2 (2001 and earlier, PARC)
  • ATRON (2003, Denmark)
  • M-TRAN Series (2005 and earlier, AIST)
  • SUPERBOT (2004, USC)
  • GZ-I (2006, Hamburg)
slide-6
SLIDE 6

by D.Dibbern and A. Werdermann

CEBOT (1988, Tsukuba)

  • First modular robot
  • Designed by Fukuda et.al.
slide-7
SLIDE 7

by D.Dibbern and A. Werdermann

PolyPod (1993, Stanford)

  • 2 types of modules
  • Build for locomotion research
slide-8
SLIDE 8

by D.Dibbern and A. Werdermann

Molecule (1998, Dartmouth)

  • 2 types of modules, male and female
  • 2 atoms connected by a bond represent one

module

  • Locomotion by using self-reconfiguration
slide-9
SLIDE 9

by D.Dibbern and A. Werdermann

Telecube (1998, PARC)

  • 1 type of modules
  • Cube-design
  • Surfaces can be extended in 3D to transform

into other shapes

slide-10
SLIDE 10

by D.Dibbern and A. Werdermann

Crystal (1999, Dartmouth)

  • 1 type of modules
  • Surfaces can be extended in 2D to transform

into other shapes

slide-11
SLIDE 11

by D.Dibbern and A. Werdermann

PolyBot G2 (2001 and earlier, PARC)

  • 1 type of modules
  • autonomous attachment to other modules
  • Embedded processor
slide-12
SLIDE 12

by D.Dibbern and A. Werdermann

ATRON (2003, Denmark)

  • 1 type of modules
  • Sphere-shape
  • Only one connector
slide-13
SLIDE 13

by D.Dibbern and A. Werdermann

M-TRAN (2005 and earlier, AIST)

  • 1 type of modules
  • Autonomous self-reconfiguration
  • Hybrid design allows high

usability

slide-14
SLIDE 14

by D.Dibbern and A. Werdermann

SUPERBOT (2004, USC)

  • 1 type of modules
  • Based on CONRO (1998) and M-TRAN
  • 6 connectors to dock with other modules
  • Connectors also used for high-level

communication

slide-15
SLIDE 15

by D.Dibbern and A. Werdermann

GZ-I (2006, Hamburg)

  • 1 type of modules
  • Fast and easy building
  • Low-cost to be usable by large group of people
slide-16
SLIDE 16

by D.Dibbern and A. Werdermann

Consumer Scenario

  • vision of a future consumer having a container
  • f self-reconfigurable modules
  • when the need arises, the consumer calls forth

the robot to achieve a task

  • the robot may then assume the shape best

suited for the task ahead

slide-17
SLIDE 17

by D.Dibbern and A. Werdermann

Taxonomy of Architectures

  • Lattice architecture
  • Chain/tree architecture
  • Mobile architecture
  • Deterministic reconfiguration
  • Stochastic reconfiguration
slide-18
SLIDE 18

by D.Dibbern and A. Werdermann

Lattice Architecture

  • arranged in regular 3d pattern
  • control and motion executed parallel
  • simpler reconfiguration
  • discrete set of neighboring locations
  • easily scaled to more complex systems
slide-19
SLIDE 19

by D.Dibbern and A. Werdermann

Chain/Tree Architecture

  • units connected in a string/tree topology
  • may fold up to become more space filling
  • underlying architecture is serial
  • can potentially reach any point or orientation in

space through articulation

  • more versatile, but computationally more

difficult

slide-20
SLIDE 20

by D.Dibbern and A. Werdermann

Mobile Architecture

  • units use the environment to maneuver around
  • can hook up to form complex chains/lattices
  • may form a number of smaller robots that

execute coordinated movements and form a larger "virtual" network

slide-21
SLIDE 21

by D.Dibbern and A. Werdermann

Deterministic Reconfiguration

  • relies on units moving or being directly

manipulated

  • exact location of each unit is known at all times
  • or can be discovered and calculated at run time
  • reconfiguration times can be guaranteed
  • feedback control is often necessary for precise

manipulation

  • macro scale systems are usually deterministic
slide-22
SLIDE 22

by D.Dibbern and A. Werdermann

Stochastic Reconfiguration

  • relies on units moving around using statistical

processes

  • exact location of each unit only known when

connected to main structure, but may take unknown paths to move between locations

  • more favorable for micro scale systems
  • environment provides much of the energy for

transportation

slide-23
SLIDE 23

by D.Dibbern and A. Werdermann

Standard Gaits

– Linear Gait

  • Forward and backward

– Turning Gait

  • Left and right

– Rolling Gait

  • Rolling around axis

– Lateral Shift

  • Parallel movement
slide-24
SLIDE 24

by D.Dibbern and A. Werdermann

Motivation and Inspiration

  • Versatility

– More adaptive than conventional systems – may change morphologies suited for new tasks

  • Robustness

– Parts are interchangeable leading to self-repair

  • Low Cost

– Because many copies of one (or relatively few) type

  • f modules instead of a variety of parts
slide-25
SLIDE 25

by D.Dibbern and A. Werdermann

PARC Module Overview

  • Telecube
  • G1
  • G1v4
  • G2
  • G3
  • G1v5
slide-26
SLIDE 26

by D.Dibbern and A. Werdermann

Telecube G2 Module

  • cube shaped modules
  • permanent switching magnet
  • telescoping-tube linear actuator
  • latching mechanism to attach or detach
  • faces can extend out doubling the length of any

dimension

  • example for lattice architecture
slide-27
SLIDE 27

by D.Dibbern and A. Werdermann

G1 Module

  • Two structural parts
  • Plastic sheets
  • Screwed together
  • No self-reconfiguration
  • Hobby RC Servos
  • Power and computation off-board
  • Design used by NASA snakebot
slide-28
SLIDE 28

by D.Dibbern and A. Werdermann

G1v4 Module

  • Not self-reconfigurable
  • Easy to manually reconfigure
  • Hobby servo
  • Computation on-board
  • Power on-board (AAA NiMH Batteries)
  • Cable attached for computation and power

sharing between modules

slide-29
SLIDE 29

by D.Dibbern and A. Werdermann

G2 Module

  • On-board computing
  • Motorola PowerPC 555 (1MB external RAM)
  • Can reconfigure automatically
  • Shape Memory Allocation
  • Stainless steel sheet structure
  • Communication over semi-global bus
  • Motor 5x stronger than G1 modules
slide-30
SLIDE 30

by D.Dibbern and A. Werdermann

G3 Module

  • Very similar to G2 Modules but...
  • Smaller (5x5x4.5 cm)
  • Integrated active brake
  • Lower power than G2
  • More sensors than G2
  • Weighs only 200g instead of 450g
  • Main drive weighs only 70g (compared to 300)
slide-31
SLIDE 31

by D.Dibbern and A. Werdermann

G1v5 Module

  • Better G1 Module build after G2 & G3 Modules
  • Robust screw together connections
  • More reliable and robust
  • Increased torque servos
  • 36 volt bus with on-board DC-DC converters
  • Allows chaining of up to 100 modules from a

single power supply

slide-32
SLIDE 32

by D.Dibbern and A. Werdermann

Research challenges

  • Hardware challenges
  • Software challenges
  • Environment challenges
  • Future challenges
slide-33
SLIDE 33

by D.Dibbern and A. Werdermann

Challenge on hardware design

  • Robustness and strength on docking interfaces
  • Motorpower, precision and energy efficiency
  • Easy-to-use-hardware for running software
  • Low-cost for high amount of modules
slide-34
SLIDE 34

by D.Dibbern and A. Werdermann

Challenge on software design

  • Highly scalable software, handling 2 or 1000

modules

  • tolerance on missing or not responding

modules and unknown situations

  • Determining configuration for solving problems
  • Optimization of reconfiguration regarding to

energy efficiency

slide-35
SLIDE 35

by D.Dibbern and A. Werdermann

Challenge on environment

  • Space exploration

– No gravity, no weight

  • Sea exploration

– Waterproof

  • Search and rescue

– Ability to cross every surface and obstacle

slide-36
SLIDE 36

by D.Dibbern and A. Werdermann

Future challenges

  • High amount of modules working as one unit
  • Self-replication
  • Highly autonomous and advanced AI
slide-37
SLIDE 37

by D.Dibbern and A. Werdermann

Sci-Fi / far future

  • Example

– Replicator (Stargate SG-I) – T-1000 (Terminator 2)

slide-38
SLIDE 38

by D.Dibbern and A. Werdermann

Replicator (Stargate SG-I)

  • Consist of modules
  • Advanced artificial intelligence
  • Strong connection between modules
  • Able to create large robots
  • Able to produce new modules
slide-39
SLIDE 39

by D.Dibbern and A. Werdermann

T-1000 (Terminator 2)

  • Self-Healing
  • Self-Reconfiguring
  • Variable morphology
  • Advanced AI
  • Highly autonomous
slide-40
SLIDE 40

by D.Dibbern and A. Werdermann

Questions? Questions?