In this paper, we propose a novel, 3D, like cubic shape, modular self-reconfigurable (MSR) robot named M-Cubes. Its key mechanical components are analyzed in detail. By communicating with the neighboring modules, each...In this paper, we propose a novel, 3D, like cubic shape, modular self-reconfigurable (MSR) robot named M-Cubes. Its key mechanical components are analyzed in detail. By communicating with the neighboring modules, each unit employs its automatic lock device composed of a pin and a hole on each connection plane which can connect or disconnect with neighboring modules. The M-Cubes system consisting of many identical modules cooperates to change their connection, and then the whole structure transforms into arbitrary structure. Furthermore, we describe its locomotion control based on the driving function and the adjacency matrix which is effective for solving the computationally difficult problem and optimizing the system motion path during the self-reconfiguration process. Finally, a simulation experiment using java 3D technology, proved the new method for controlling modular robot is robust and useful.展开更多
A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and...A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can not only link into a train or other shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components design, and a miniature advanced RISC machines （ARM） based embedded controller is developed for minimal power consumption and efficient global control. The docking experiment between two units has also been implemented.展开更多
基金Project (No. 50305021) supported by the National Natural ScienceFoundation of China
文摘In this paper, we propose a novel, 3D, like cubic shape, modular self-reconfigurable (MSR) robot named M-Cubes. Its key mechanical components are analyzed in detail. By communicating with the neighboring modules, each unit employs its automatic lock device composed of a pin and a hole on each connection plane which can connect or disconnect with neighboring modules. The M-Cubes system consisting of many identical modules cooperates to change their connection, and then the whole structure transforms into arbitrary structure. Furthermore, we describe its locomotion control based on the driving function and the adjacency matrix which is effective for solving the computationally difficult problem and optimizing the system motion path during the self-reconfiguration process. Finally, a simulation experiment using java 3D technology, proved the new method for controlling modular robot is robust and useful.
基金Supported by the National High Technology Research and Development Programme of China ( No. 2004AA420110)Heilongjiang Province Technology Foundation (No. GB04A502)
文摘A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can not only link into a train or other shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components design, and a miniature advanced RISC machines （ARM） based embedded controller is developed for minimal power consumption and efficient global control. The docking experiment between two units has also been implemented.
