TY - GEN
T1 - Design of a new independently-mobile reconfigurable modular robot
AU - Kutzer, Michael D.M.
AU - Moses, Matthew S.
AU - Brown, Christopher Y.
AU - Scheidt, David H.
AU - Chirikjian, Gregory S.
AU - Armand, Mehran
PY - 2010/8/26
Y1 - 2010/8/26
N2 - A new self-reconfigurable robot is presented. The robot is a hybrid chain/lattice design with several novel features. An active mechanical docking mechanism provides intermodule connection, along with optical and electrical interface. The docking mechanisms function additionally as driven wheels. Internal slip rings provide unlimited rotary motion to the wheels, allowing the modules to move independently by driving on flat surfaces, or in assemblies negotiating more complex terrain. Modules in the system are mechanically homogeneous, with three identical docking mechanisms within a module. Each mechanical dock is driven by a high torque actuator to enable movement of large segments within a multi-module structure, as well as low-speed driving. Preliminary experimental results demonstrate locomotion, mechanical docking, and lifting of a single module.
AB - A new self-reconfigurable robot is presented. The robot is a hybrid chain/lattice design with several novel features. An active mechanical docking mechanism provides intermodule connection, along with optical and electrical interface. The docking mechanisms function additionally as driven wheels. Internal slip rings provide unlimited rotary motion to the wheels, allowing the modules to move independently by driving on flat surfaces, or in assemblies negotiating more complex terrain. Modules in the system are mechanically homogeneous, with three identical docking mechanisms within a module. Each mechanical dock is driven by a high torque actuator to enable movement of large segments within a multi-module structure, as well as low-speed driving. Preliminary experimental results demonstrate locomotion, mechanical docking, and lifting of a single module.
KW - Cellular and modular robots
KW - Mechanism design of mobile robots
KW - Robotics in hazardous fields
UR - http://www.scopus.com/inward/record.url?scp=77955822796&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955822796&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509726
DO - 10.1109/ROBOT.2010.5509726
M3 - Conference contribution
AN - SCOPUS:77955822796
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2758
EP - 2764
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -