Section 2 defines the problem of autonomous discovery and functional response to. 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. Mobile robot system list of high impact articles ppts. A distributed and morphologyindependent strategy for.
Part two includes a mathematical model of the mobile robot, which consists of kinematic and dynamic parts. 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 robot has selfreconfiguring skills and is able to perform creepingwalking motion. Autonomous robotic system for thermographic detection of. A mechanism concept and design of reconfigurable robot. Mobile configuration change mcc and whole body locomotion wbl.
The basic issues that the fs add resses are the following. Kinematic modeling of 3 position changing robot manipulator 1 robot cooperative motion constraint equation. It is a further object of this paper to provide such a robot which can be. Reconfigurable modular universal unit muu for mobile.
A neural network approach to navigation of a mobile robot. Autonomyindividuals that create the swarmrobotic system are autonomous robots. Dofs, and the manual connection plates possess two. Self reconfiguring modular robot linkedin slideshare. The task of the robot is to carry a polygonal object from a starting point to a destination point in a possibly culttered environment. Modular selfreconfigurable robots present wide and unique solutions for growing demands in the domains of space. A comprehensive survey of the growing field of selfreconfigurable robots that discusses the history of the field, design considerations, and control strategies. Design of a new independentlymobile recongurable modular robot michael d.
A reinforcement learning method uses a neural network with qlearning to navigate an industrial vehicle in unknown environments by avoiding. Modular selfreconfiguring robotic systems or selfreconfigurable modular robots are autonomous kinematic machines with variable morphology. At last, the simulation of kinematics based on adams verifies the feasibility of the docking mechanism. Must implement all functional units before any testing. 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.
T1 a reconfigurable multimode mobile parallel robot. 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. Critical dynamics and coupling constraints by iman anvari a thesis presented in partial ful. 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 lowcost independentlymobile recongurable modular robot kevin c. This paper presents a novel docking mechanism, based on a new type of mobile modular selfreconfigurable robot named m2sbot. In most of the existing research on robot path planning, a mobile robot is approximated by a fixed shape, i. Explore mobile robotic system with free download of seminar report and ppt in pdf and doc format. Planning of collisionfree paths for a reconfigurable dual. A mobile robot is an automatic machine that is capable of locomotion. Autonomous cooperative machines for highly reconfigurable. Chirikjian, abstract a new selfrecongurable robot is presented. Mobile robots have the capability to move around in their environment and are not fixed to one physical location. A deployable, multifunctional, and modular selfreconfigurable robotic. In these researches, the hardware design of the module and the software design of the control algorithms are the central issues. Part i international congress section v mobile robotics 671. A deployable, multifunctional, and modular selfreconfigurable robotic system behnam salemi, mark moll, and weimin shen.
Chirikjian abstract this paper presents m 3 express modular mobilemultirobot, a new design for a lowcost modular robot. 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. Design of a new independentlymobile reconfigurable. Selfreconfigurable robots are constructed of robotic modules that can be connected in many different ways. This thesis presents an adaptive and reconfigurable mobile robot. 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. The system can also be selfrepairing and faulttolerant.
A series of passive rollers around the cylindrical aluminum shell of muu form an actuating wheel for the omnidirectional mobile robot. Moreover, the resulting selfreconfigurable robot could exhibit selfhealing behavior where a malfunctioning module is easily replaced, thereby increasing the fault. Reconfigurable mechanism for mobile robotic platform. The dual module experiments have shown that superbot. Meanwhile, many reconfigurable modular robot researches focus on the. 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. The robots primary goal is to follow around the edges of its world. Control for mobile robots christopher batten maslab iap robotics course january 7, 2005. Basically, the creation of robot is supposed to be a helper for a human. Simulation of the navigation of a mobile robot by the q.
These categories are differentiated by the nature of mobility patterns and the reconfigurable properties of. Layers of control system are built to let the robot operate at increasing levels of competence. The paper presents a modular robot, designed for reconfiguring, in order to achieve both walking and crawling motion. The difficulty is that potential receivers are pedestrians who are not necessarily cooperative. 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. In this paper, we study the problem of finding a collisionfree path for a mobile robot which possesses manipulators. Selfreconfigurable robotic systems can potentially lower overall robot cost by making many copies of one or relatively few type of modules so. Although we shall discuss and illustrate these techniques in a domain speci. Modules are the basic elements of rmrs, so the function of modules will. The functional elements of the proposed dmr from alternative 1.
Functional and non functional requirements information. These modules move in relationship to each other, which allows the robot as a whole to change shape. A spying robot is an example of a mobile robot capable of movement in a given environment. The paper introduces the design of structure, the principle of work and the feasibility analysis of this mechanism in detail. Most of the selfreconfigurable robot systems can be classified by following features summarized in table 1. Since robot parts are interchangeable within a robot and between different robots, machines can also replace faulty parts autonomously, leading to selfrepair. However, by modifying some of the design parameters, this creatures overall behavior can be altered in interesting ways. 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. A modular universal unit muu implements pitching, yawing and rolling dof is presented in this paper. Pdf modular selfreconfigurable robots present wide and unique. Development of a docking mechanism for selfreconfigurable modular robots patrick muthui and robyn a. Reconfigurable robots for all terrain exploration citeseerx.
This is accomplished through an optimization procedure. Functional and non functional requirements functional requirements. Mobile robot must be capable for travelling across structured and unstructured surfaces. Six modules can be connected to form a fourlegged structure or an open chain. An introduction to mobile robotics mobile robotics cover robots that roll, walk, fly or swim. A reconfigurable multimode mobile parallel robot heriot. A distributed control is accomplished, each module having its own. 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. By connecting these muus in different forms, we can develop the 3d snakelike robot and other mobile robots. The stealth robot should make less than 20 hz or soothing close to that which is the human lowest hearing range. Contributions to the field of modular and reconfigurable mobile robots can be traced back to the late 1980s cebot, fukuda et al. Modular robot with selfreconfigurable capabilities. Guidelines for functional specifications first draft april 25, 1995 2 2.
Meanwhile, many reconfigurable modular robot researches focus on the study of selfx capabil. Research on selfreconfigurable modular robot system. 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. 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. 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. 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. Survey on research and development of reconfigurable modular. Mobilemultirobot, a new design for a lowcost modular robot. A new type reconfigurable mobile manufacturing robot. Possess technical skills and knowledge in typical iconbased programming interface on windows operating system and assembly and integration of mechanical e. Already not a good classification wheeled legged whole body hybrid. Pdf selfreconfigurable robots are modular robots that can autonomously. Project statement design and build a selfreconfigurable modular robot moves independently able to connect to other modules able to move as a. Structurebased selection of tumorantigens for tcell based.
Autonomous discovery and functional response to topology. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. Modular and reconfigurable mobile robotics sciencedirect. 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 model of distributional handing interaction for a mobile. A mechanism concept and design of reconfigurable robot for rescue operation. The stealth robot should be able to go undetected in any situation.
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