30-04-2010, 12:03 AM
PolyBot: A Modular Reconfigurable Robot
Modular, self-reconfigurable robots show the promise of great versatility, robustness and low
cost.This is a robot with a a large number of interchangeable modules. It can move on variety of
terrain and manipulating a variety of objects.
Introduction:
Modular robotic systems are those systems that are
composed of modules that can be disconnected and
reconnected in different arrangements to form a new configuration with new functionalities. Modular
self-reconfigurable robot systems can also reconfigure their own modules.
Three Promises of N-modular Systems :
- Versatility :
They can form a large variety of shapes with large
numbers of degrees of freedom (DOF).Example of additional motion capabilities include rolling type for
efficiency and speed over flat terrain, earthworm type to
slither through obstacles, and over large steps and finally a
spider form to stride over uncertain hilly terrain.
-Reliability :
The system has the ability to repair itself as they are self reconfigurable. As the number of modules
increases, the
redundancy also increases.Error correction strategies:
The first is to use the redundancy of a
system and global feedback. The second
strategy is sometimes called self-repair
- Low Cost :
The cost savings are indirect and may require
computation over the life cycle of several systems to
support
PolyBot :
PolyBot is a modular reconfigurable robot system
composed of two types of modules, one called a segment
and one called a node.The node module is rigid with no
internal DOF and 6 connection ports. The segment module has 1 DOF
and 2 connection ports.
For details, refer this report:
http://www2.parcspl/projects/modrobots/p...01Duff.pdf
Modular, self-reconfigurable robots show the promise of great versatility, robustness and low
cost.This is a robot with a a large number of interchangeable modules. It can move on variety of
terrain and manipulating a variety of objects.
Introduction:
Modular robotic systems are those systems that are
composed of modules that can be disconnected and
reconnected in different arrangements to form a new configuration with new functionalities. Modular
self-reconfigurable robot systems can also reconfigure their own modules.
Three Promises of N-modular Systems :
- Versatility :
They can form a large variety of shapes with large
numbers of degrees of freedom (DOF).Example of additional motion capabilities include rolling type for
efficiency and speed over flat terrain, earthworm type to
slither through obstacles, and over large steps and finally a
spider form to stride over uncertain hilly terrain.
-Reliability :
The system has the ability to repair itself as they are self reconfigurable. As the number of modules
increases, the
redundancy also increases.Error correction strategies:
The first is to use the redundancy of a
system and global feedback. The second
strategy is sometimes called self-repair
- Low Cost :
The cost savings are indirect and may require
computation over the life cycle of several systems to
support
PolyBot :
PolyBot is a modular reconfigurable robot system
composed of two types of modules, one called a segment
and one called a node.The node module is rigid with no
internal DOF and 6 connection ports. The segment module has 1 DOF
and 2 connection ports.
For details, refer this report:
http://www2.parcspl/projects/modrobots/p...01Duff.pdf
