Basically, the creation of robot is supposed to be a helper for a human. It is a further object of this paper to provide such a robot which can be. Autonomous discovery and functional response to topology. Development of a docking mechanism for selfreconfigurable modular robots patrick muthui and robyn a. These modules move in relationship to each other, which allows the robot as a whole to change shape. Survey on research and development of reconfigurable modular. In this paper, we study the problem of finding a collisionfree path for a mobile robot which possesses manipulators. This thesis presents an adaptive and reconfigurable mobile robot. Mobile robots need to answer three fundamental questions where am i where am i going how do i get there to answer these questions the robot must first make measurements model the environment localize it. Pdf selfreconfigurable robots are modular robots that can autonomously. Mobile robot must be capable for travelling across structured and unstructured surfaces. The dual module experiments have shown that superbot. Beyond conventional actuation, sensing and control typically found in fixedmorphology robots, selfreconfiguring robots are also able to deliberately change their own shape by rearranging the connectivity of their parts, in order to adapt to new. Reconfigurable robots for all terrain exploration citeseerx.
Mobile robots have the capability to move around in their environment and are not fixed to one physical location. At last, the simulation of kinematics based on adams verifies the feasibility of the docking mechanism. Possess technical skills and knowledge in typical iconbased programming interface on windows operating system and assembly and integration of mechanical e. The stealth robot should make less than 20 hz or soothing close to that which is the human lowest hearing range. Most of the selfreconfigurable robot systems can be classified by following features summarized in table 1. However, by modifying some of the design parameters, this creatures overall behavior can be altered in interesting ways. A reconfigurable multimode mobile parallel robot heriot.
Chirikjian, abstract a new selfrecongurable robot is presented. Part two includes a mathematical model of the mobile robot, which consists of kinematic and dynamic parts. Modular robot with selfreconfigurable capabilities. Contributions to the field of modular and reconfigurable mobile robots can be traced back to the late 1980s cebot, fukuda et al. Layers of control system are built to let the robot operate at increasing levels of competence. A distributed control is accomplished, each module having its own. A mobile robot is an automatic machine that is capable of locomotion. This paper presents a novel docking mechanism, based on a new type of mobile modular selfreconfigurable robot named m2sbot. Autonomyindividuals that create the swarmrobotic system are autonomous robots.
Design of a new independentlymobile recongurable modular robot michael d. Critical dynamics and coupling constraints by iman anvari a thesis presented in partial ful. Meanwhile, many reconfigurable modular robot researches focus on the study of selfx capabil. Pdf modular selfreconfigurable robots present wide and unique. Research on selfreconfigurable modular robot system. Selfreconfigurable robotic systems can potentially lower overall robot cost by making many copies of one or relatively few type of modules so. Distributed modular composition of robot is one of the most effective approaches to attain such abilities and has a potential to adapt to its surroundings by changing its configuration autonomously according to information of surroundings. For ease of description, the two platforms are called the upper platform e 1 e 2 e 3 e 4 and lower platform a 1 a 2 a 3 a 4 respectively, here e i and a i are the endpoints of an arm, and both are r joints with their axes collinear. The architecture, under the mobile robot control point of view, is organized in several independent blocks, connected like a hierarchical structure, as shown in figure 1, where can be visualized three control levels. The paper introduces the design of structure, the principle of work and the feasibility analysis of this mechanism in detail.
A modular universal unit muu implements pitching, yawing and rolling dof is presented in this paper. The basic issues that the fs add resses are the following. Part i international congress section v mobile robotics 671. The reconfiguration ability allows a robot or a group of robots to disassemble and reassemble machines to form new morphologies that are better suitable for new tasks, such as changing from a legged robot to a snake robot and then to a rolling robot. This kind of technique applies when one assumes that the only information on the quality of actions performed by the mobile robot is a scalar signal which has a reward or punishment, the process of learning is to improve the choice of actions to maximize rewards. A comprehensive survey of the growing field of selfreconfigurable robots that discusses the history of the field, design considerations, and control strategies. Building a control system for a mobile robot can be very challenging mobile robots are very complex and involve many interacting components mechanical electrical software. A mechanism concept and design of reconfigurable robot. Functional and non functional requirements functional requirements. The difficulty is that potential receivers are pedestrians who are not necessarily cooperative. A distributed and morphologyindependent strategy for.
Modules are the basic elements of rmrs, so the function of modules will. A neural network approach to navigation of a mobile robot. A spying robot is an example of a mobile robot capable of movement in a given environment. Already not a good classification wheeled legged whole body hybrid. A model of distributional handing interaction for a mobile. The system can also be selfrepairing and faulttolerant.
Control for mobile robots christopher batten maslab iap robotics course january 7, 2005. Reconfigurable mechanism for mobile robotic platform. Selfreconfigurable robots are constructed of robotic modules that can be connected in many different ways. The functional elements of the proposed dmr from alternative 1. An introduction to mobile robotics mobile robotics cover robots that roll, walk, fly or swim. The stealth robot should be able to go undetected in any situation. Since robot parts are interchangeable within a robot and between different robots, machines can also replace faulty parts autonomously, leading to selfrepair. Kinematic modeling of 3 position changing robot manipulator 1 robot cooperative motion constraint equation. The task of the robot is to carry a polygonal object from a starting point to a destination point in a possibly culttered environment. Explore mobile robotic system with free download of seminar report and ppt in pdf and doc format. Mechanical design the design of autonomous mobile robots capable of intelligent motion and action without requiring either a guide to follow or a teleoperator control involves the integration of many different bodies of knowledge.
A deployable, multifunctional, and modular selfreconfigurable robotic system behnam salemi, mark moll, and weimin shen. In most of the existing research on robot path planning, a mobile robot is approximated by a fixed shape, i. Autonomous robotic system for thermographic detection of. Modular and reconfigurable mobile robotics sciencedirect. It is basically a symmetric parallel mechanism with two equal platforms and four equal arms fig. Autonomous cooperative machines for highly reconfigurable. Mobile robot project goal new services must be tested within a short time and with the newest end terminals, since these are the main driving forces in the market. Modular selfreconfiguring robotic systems or selfreconfigurable modular robots are autonomous kinematic machines with variable morphology. Nature of the functional specification the fs is a specification for a particular software product, program, or set of programs that performs certain functions in a specific environment. Reconfigurable modular universal unit muu for mobile.
Although we shall discuss and illustrate these techniques in a domain speci. T1 a reconfigurable multimode mobile parallel robot. Self reconfiguring modular robot linkedin slideshare. Functional and non functional requirements information. N2 in this paper we put forward the idea of deforming the geometry of a parallel mechanism such that it can operate either as an equivalent rolling robot or quadruped robot. The robots primary goal is to follow around the edges of its world.
Also explore the seminar topics paper on mobile robotic system with abstract or synopsis, documentation on advantages and disadvantages, base paper presentation slides for ieee final year mechanical engineering me or production automobile students for the year 2019 2020. This is accomplished through an optimization procedure. The paper presents a modular robot, designed for reconfiguring, in order to achieve both walking and crawling motion. Structurebased selection of tumorantigens for tcell based. The mechanism is a fourbar linkage that in combination with variable link lengths is capable of reproducing a power grasp finger motion for a wide variety of finger sizes. A mechanism concept and design of reconfigurable robot for rescue operation.
Introduction to mobile robot control provides a complete and concise study of modeling, control, and navigation methods for wheeled nonholonomic and omnidirectional mobile robots and manipulators. Chirikjian abstract this paper presents m 3 express modular mobilemultirobot, a new design for a lowcost modular robot. Must implement all functional units before any testing. Simulation of the navigation of a mobile robot by the q. Meanwhile, many reconfigurable modular robot researches focus on the. Project statement design and build a selfreconfigurable modular robot moves independently able to connect to other modules able to move as a. Mobile robotic system seminar report, ppt, pdf for. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. Planning of collisionfree paths for a reconfigurable dual.
Guidelines for functional specifications first draft april 25, 1995 2 2. A reinforcement learning method uses a neural network with qlearning to navigate an industrial vehicle in unknown environments by avoiding. The robot has selfreconfiguring skills and is able to perform creepingwalking motion. A series of passive rollers around the cylindrical aluminum shell of muu form an actuating wheel for the omnidirectional mobile robot. Six modules can be connected to form a fourlegged structure or an open chain.
By connecting these muus in different forms, we can develop the 3d snakelike robot and other mobile robots. A lowcost independentlymobile recongurable modular robot kevin c. Design of a new independentlymobile reconfigurable. Mobile configuration change mcc and whole body locomotion wbl. Moreover, the resulting selfreconfigurable robot could exhibit selfhealing behavior where a malfunctioning module is easily replaced, thereby increasing the fault. Modular selfreconfigurable robots present wide and unique solutions for growing demands in the domains of space. Abstract there seem to be a lot of robots that have been built up until today. A model of distributional handing interaction for a mobile robot abstract this paper reports our research on developing a model for a robot distributing flyers to pedestrians. Mobile robot system list of high impact articles ppts. Dofs, and the manual connection plates possess two. These categories are differentiated by the nature of mobility patterns and the reconfigurable properties of.
A new type reconfigurable mobile manufacturing robot. A deployable, multifunctional, and modular selfreconfigurable robotic. Section 2 defines the problem of autonomous discovery and functional response to. Mobilemultirobot, a new design for a lowcost modular robot. In these researches, the hardware design of the module and the software design of the control algorithms are the central issues.
40 778 405 878 520 487 1513 411 162 1104 607 483 984 270 1315 902 668 935 1460 696 830 1014 205 1093 1470 738 1392 1333 1388 231 96 485