A new meta-module design for efficient reconfiguration of modular robots
-
Published:2021-03-22
Issue:
Volume:
Page:
-
ISSN:0929-5593
-
Container-title:Autonomous Robots
-
language:en
-
Short-container-title:Auton Robot
Author:
Parada IreneORCID, Sacristán VeraORCID, Silveira Rodrigo I.ORCID
Abstract
AbstractWe propose a new meta-module design for two important classes of modular robots. The new meta-modules are three-dimensional, robust and compact, improving on the previously proposed ones. One of them applies to so-called edge-hinged modular robot units, such as M-TRAN, SuperBot, SMORES, UBot, PolyBot and CKBot, while the other one applies to so-called central-point-hinged modular robot units, which include Molecubes and Roombots. The new meta-modules use the rotational degrees of freedom of these two types of robot units in order to expand and contract, as to double or halve their length in each of the two directions of its three dimensions, therefore simulating the capabilities of Crystalline and Telecube robots. Furthermore, in the edge-hinged case we prove that the novel meta-module can also perform the scrunch, relax and transfer moves that are necessary in any tunneling-based reconfiguration algorithm for expanding/contracting modular robots such as Crystalline and Telecube. This implies that the use of meta-meta-modules is unnecessary, and that currently existing efficient reconfiguration algorithms can be applied to a much larger set of modular robots than initially intended. We also prove that the size of the new meta-modules is optimal and cannot be further reduced.
Funder
Ministerio de Ciencia, Innovación y Universidades H2020 Marie Skłodowska-Curie Actions Generalitat de Catalunya Austrian Science Fund
Publisher
Springer Science and Business Media LLC
Subject
Artificial Intelligence
Reference37 articles.
1. Abel, Z., & Kominers, S. D. (2011). Universal reconfiguration of (hyper-)cubic robots. ArXiv e-Prints, arXiv:0802.3414v3. 2. Aloupis, G., Benbernou, N., Damian, M., Demaine, E. D., Flatland, R., Iacono, J., & Wuhrer, S. (2013). Efficient reconfiguration of lattice-based modular robots. Computational Geometry: Theory and Applications, 46(8), 917–928. 3. Aloupis, G., Collette, S., Damian, M., Demaine, E. D., Flatland, R., Langerman, S., et al. (2011). Efficient constant-velocity reconfiguration of crystalline robots. Robotica, 29(1), 59–71. 4. Aloupis, G., Collette, S., Damian, M., Demaine, E. D., Flatland, R., Langerman, S., et al. (2009). Linear reconfiguration of cube-style modular robots. Computational Geometry: Theory and Applications, 42(6–7), 652–663. 5. Aloupis, G., Collette, S., Demaine, E. D., Langerman, S., Sacristán, V., & Wuhrer, S. (2008). Reconfiguration of cube-style modular robots using $$O(\log n)$$ parallel moves. In Proceedings of 19th Annual International Symposium on Algorithms and Computation (ISAAC), pp. 342–353.
Cited by
6 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献
|
|