SMORES-EP, a modular robot with parallel self-assembly
Name
10514_2022_10078_ReferencePDF.pdf
Size
6.88 MB
Format
Adobe PDF
Checksum (MD5)
3aef59c75be6deb67caa5f9e255bc5b2
Author(s)
Liu, Chao
Lin, Qian
Kim, Hyun
Yim, Mark
Date Issued
December 30, 2022
Publisher
Springer US
Citation
Liu, Chao, Lin, Qian, Kim, Hyun and Yim, Mark. 2022. "SMORES-EP, a modular robot with parallel self-assembly."
Version
Author's final manuscript
Abstract
Abstract
Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree topologies. These modular robots form kinematic chains that have been shown to be capable of a large variety of manipulation and locomotion tasks, yet they can reconfigure using a mobile reconfiguration. A desired kinematic topology can be mapped onto a planar pattern with the optimal module assignment based on the modules’ locations, then the mobile reconfiguration assembly process can be executed in parallel. A docking controller is developed to guarantee the success of docking processes. A hybrid control architecture is designed to handle a large number of modules and complex behaviors of each individual, and achieve efficient and robust self-assembly actions. The framework is demonstrated in both hardware and simulation on the SMORES-EP platform.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1007/s10514-022-10078-1
