Design of a new independently-mobile reconfigurable modular robot

Michael D.M. Kutzer, Matthew S. Moses, Christopher Y. Brown, David H. Scheidt, Gregory S. Chirikjian, Mehran Armand

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages2758-2764
Number of pages7
DOIs
StatePublished - Aug 26 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period5/3/105/7/10

Keywords

  • Cellular and modular robots
  • Mechanism design of mobile robots
  • Robotics in hazardous fields

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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