Reconfigurable Modular Robots

Last update: October 11th, 2000 by Lukas Lichtensteiger

PROJECT DESCRIPTION

To facilitate a systematic investigation of the interdependence between morphology and control a quick and easy way to create a variety of different robot morphologies in the real world is required. Selected morphologies from simulation results could then be implemented on real robots to test their performance in the real world. One possible solution to rapidly create morphologies is to use a set of simple modules which are relatively easy to interconnect to reduce the time needed and the skills required for constructing new robots. The robots could even be assembled by a machine thus completely automating the process of evolving robots for the real world. 

Each of these modules has its own energy supply, its own electronic control, its own sensors and its own actuators. Using its sensors and actuators it can also communicate with other units. Some or all of the units have their own motors to displace themselves horizontally. Using their own motors for propulsion and synchronizing this movement with the other units through communication, the whole structure is able to move in many different ways. Connected units can communicate with their neighbors (local communication) and they can also broadcast messages to all or a selected subset of all other units. Since these units are self-sufficient in terms of energy supply, control architecture and communication, it is very easy to quickly assemble many such units according to a blueprint.

Links

Reconfigurable modular robots at XEROX
Example of a 2-D self-assembling machine

References

Fukuda, T., and Ueyama, T. (1994), Cellular robotics and micro robotic systems
Singapore: World Scientific Publishing Co. Pte. Ltd.

Hosokawa, K. , Shimoyama, I., and Miura, H. (1996), Two-dimensional micro-self-assembly using the surface tension of water
Sensors and Actuators A, Vol. 57, 117-125

Murata, S., Kurokawa, H., and Kokaji, S. (1994), Self-assembling machine
The proceedings of the 1994 IEEE international conference on robotics and automation. San Diego, California, May 8-13, 441-448

Wagner, G. P. (1995), Adaptation and the modular design of organisms
In: F. Morán, A. Morán, J.J. Merelo, and P. Chacón [eds.], Advances in Artificial Life. Springer Verlag, Berlin, pp. 317-328

Wagner, G.P. (1996), Homologues, natural kinds and the evolution of modularity
Am. Zool. 36:4-13.

Yim, M. (1993), A reconfigurable modular robot with many modes of locomotion
Proc. of the JSME Int. Conf. on Advanced Mechatronics. Tokyo, Japan, 283-288.
 
Send questions and remarks to llicht@ifi.unizh.ch.
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