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Towards Artificial ATRON Animals: Scalable Anatomy for Self-Reconfigurable Robots David J. Christensen, David Brandt & Kasper Sty Robotics: Science & Systems Workshop on Self-Reconfigurable Modular Robots August 2006 David Johan

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Towards Artificial ATRON Animals:

Scalable Anatomy for Self-Reconfigurable Robots

David J. Christensen, David Brandt & Kasper Støy

Robotics: Science & Systems Workshop on Self-Reconfigurable Modular Robots August 2006

David Johan Christensen Ph.D-Student Adaptronics Group, Mærsk Institute University of Southern Denmark

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Overview

  • Why study Self-Reconfigurable robots?
  • The ATRON system.
  • Scaling the robot.
  • Challenge of Scalable Functionality
  • Scalable Anatomy for ATRON robots
  • Discussion, Future work & Summary

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Why Study Self-Reconfigurable Robots?

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Purpose from Scientific Perspective?

  • Understand, explain and recreate the characteristics of life!!

Biological Organism Biological Organism Cells Cells Biological Species Biological Species

Self-Organize Self-Assemble (Chemicals) Self-Reproduce (Division) Self-Sufficient Self-Contained Self-Maintained Autonomous Adapt & Learn Self-Assemble Self-Repair Self-Reproduce Intelligent & Conscious Evolve CEBOT CATOM CONRO M-TRAN 3D-UNIT FRACTA POLYBOT MOLECULE SUPERBOT MOLECUBE CRYSTALLINE METAMORPHIC Many other …….

Robot Robot Robotic Modules Robotic Modules Robotic Species Robotic Species

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Purpose from Engineering Perspective?

  • We want to build Better Robots!
  • Why should it Modular?

– Multi-Purpose => Versatility (by clever design) – Mass-Produce => Low Cost – Extendable => Scalable

  • Why should it be Self-Reconfigurable?

– Self-Repair => Reliable & Robust (from redundancy) – Self-Assembly => Automated Production – Adaptation => Increased Performance (both functional and morphological adaptation)

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ATRON

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Our Platform: The ATRON System

  • Module Characteristics:

– Single degree of freedom – 4 male, 4 female connectors – Batteries (had power sharing) – Computation, communication, – Sensing: Distance, Tilt, Encoders – 800 grams pr. module

  • Manufactured: 100 modules
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Versatility of the ATRON System

  • Manipulation & Locomotion

(Real Time)

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Versatility of the ATRON System

  • Self-Reconfiguration

(8x Speed)

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Scaling

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  • Scaling down module size (cm to µm)
  • Scaling up number of modules (tens to millions)
  • Why?

– Closer to the cell metaphor. – Improve engineering metrics (e.g. resolution of shape)

Scaling the Robot

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Scalability Challenges of Self-Reconfigurable Robots

  • What are the Challenges?

– Hardware

  • What to build?

– Self-Reconfiguration

  • Morph between configurations.

– Functionality (THIS TALK!)

  • Fast responding and functional robots.

– Many other challenges….

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Challenge of Scalable Functionality

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Number of Cells/Modules

The Challenge of Scalable Functionality

Speed of Response Complexity of Functionality

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What is the problem anyway?

  • Self-Reconfiguration too slow: (for fast response)

– Slower with more modules (more moving) – Faster with smaller modules (faster modules)

  • Modules are locked rigidly:

– Modules are stuck in a global lattice. – Actuation Forces does not add up.

  • So scaling functionality is hard.

– Functionality do not transfer from a 10 to a 1000 module robot

Functionality reduces to self-reconfiguration. Basically constant with volume.

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How can we approach the problem?

Artificial Creature Artificial Creature Robotic Modules Robotic Modules Computers, Actuators, Sensors, Gears… Scalable Anatomy Scalable Anatomy

  • How to build Myriad-Module Robots?

– Functional & Fast-Responding

  • Approach: Defining a Robot Anatomy

– Biological Inspired by Animal Anatomies – Scalable Anatomically Structures

  • Bone, joints, muscles, nerves, etc..

Scalable Anatomy

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Where does this comes from?

Cells Cells Tissues Tissues Organs Organs Animal Animal Modules Modules Cellular Inspiration Anatomically Structures Anatomically Structures Robot Robot Anatomi Inspiration

  • Hieratical Organization of cells
  • Differentiation dependent on role in organism
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ATRON Anatomy

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Moving from idea to system…

  • ATRON Anatomy

– ATRON-Nerve – ATRON-Arteries – ATRON-Bone – ATRON-Joint – ATRON-Muscle – ATRON-Skin

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ATRON Anatomy: Neurons and Arteries

Notation

  • ATRON-Artery

– Transportation of energy ~ Power sharing

  • ATRON-Neuron

– Computation ~ Microprocessors – Coordination ~ IR-Communication – Sensing ~ Sensors

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ATRON Anatomy: Bone

Femur Bone ATRON Bone

  • ATRON-Bone

– Support Weight of Robot. – Strong Connector. – Lattice Interconnection. – Scales in 3D.

0.067MPa* 720kg/m^3 ATRON-Bone 1900 kg/m^3 Density 50MPa Yield Strength Bio-Bone

*Østergaard et al., Design of the ATRON lattice-based self- reconfigurable robot. Autonomous Robots, to appear, 2006.

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ATRON Anatomy: Hinge Joint

Hinge Joint

  • ATRON-Joints

– Connection and relative rotation of bones.

  • Hinge Joint

– Scales along rotational axes. – Reversible to global lattice.

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ATRON Anatomy: Ball-Socket Joints

Ball-Socket Joint Hip Joint

  • ATRON-Joints

– Connection and relative rotation of bones.

  • Ball-Socket Joint

– Scalable in 3D. – Reversible to global lattice using muscles as anchors.

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ATRON Anatomy: Muscle

  • ATRON-Muscles

– Actuation of myriad-module robot – Parallelizable to achieve scalability

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ATRON Anatomy: Skin

  • ATRON-Skin

– Purpose: e.g. protection from environment. – ATRON Surfaces that can deform and stretch – However:

  • Rigid constraints on ATRON
  • Full of Holes

Two sheets patterns for skin

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Discussion, Future work & Summary

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Lesson Learned…

  • Will it ever work?

– Probably not with the ATRON alone…

  • Why not?

– Morphological differentiation of modules seems necessary:

  • Functional differentiation are not enough.
  • 210 different cell types in adult human
  • What then? (Future work)

– Collect more experience from different systems:

  • Which anatomical structures?
  • How to combine anatomical structures?

– Design novel SR system based on scalable anatomy.

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Summary

  • Challenge of Scalable Functionality:

– Fast responsive functionality myriad-module robots…

  • Our Approach:

– Biological Inspired Scalable Anatomy. – Anatomical Parts: Bone, Joint, Muscle, Skin, Nerve.

  • Scalable Anatomy for ATRON System.

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