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This report focuses on two different aspects of modular robots, the enumeration of distinct configurations of a modular robot and the generation of gaits for hybrid robots with wheels and legs. Given a particular set of modules from which the robot can be formed, a modular robot made up of these modules can attain a number of different configuratio...
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... We have also listed out all possible two-port configurations given a set of four locomotive modules-a passive wheeled module, a powered wheel module, a skate module and a leg module. Additional information about the material in this chapter can be found in [23]. ...
... More details on the material in this chapter can be found in [23] and [25]. In the next chapter, we will examine the dynamic behavior of modular mobile systems. ...
This thesis addresses the dynamics, gait generation and motion planning of a class of locomotion systems called modular locomotion systems that consist of a central base module with locomotion modules like legs, powered wheels or passive wheeled skate modules attached to ports on the base. These systems, by virtue of their often unconventional modes of locomotion, offer advantages in performing tasks where traditional wheeled and legged systems often fail, for example crawling through pipes, skating on ice, or climbing fences. ^ This thesis makes multiple contributions to the study of modular locomotion systems in enumeration, kinematic and dynamic analysis and motion planning. We present a scheme to enumerate the different robot configurations possible given a set of locomotive modules. For kinematic systems, we present a motion planning algorithm that incorporates the effect of intermittent contact of leg modules. A dynamic analysis is carried out for systems with multiple nonholonomic constraints using both the Lagrange D'Alembert equations of motion and a process of Lagrangian reduction to define the connection that relates the group motion of the robot to the individual motion of the modules (shape inputs). We show how nonholonomic impacts, which occur when passive wheel modules make or break contact with the ground, can be incorporated into this analysis. ^ We study the dynamics, gait generation and motion planning for three dynamic systems with an unconventional actuation scheme and multiple nonholonomic constraints. We present simulation and experimental results to show how simple for ward and rotary gaits for the ROLLERBLADER, a robot with two degree of freedom legs with passive wheels mounted on the ends, can be composed to achieve motion planning. We also present a rollerblading gait that attempts to mimic human rollerblading motion. We show how the R OBOTRIKKE, a novel single input experimental system, can be controlled using a periodic input and visual feedback from an overhead camera to track a straight line trajectory. We present simulation results for controllers that balance a bicycle without pedals, propel it forwards and allow simple trajectory tracking once the bicycle reaches higher speeds.
... A hybrid robot with two wheels and two legs is shown inFigure 1 . The distinct configurations formed by attaching different types of modules to a base can be enumerated as was done in [1], [3].Fig- ure 2 shows an initial version of a modular robot (built by Prang Chim and Kenneth Chin). The robot has a base platform with a total of eight ports, to which either sensor or actuator modules can be attached. ...
Addresses the issue of developing a motion planning algorithm for a general class of modular mobile robots. A modular mobile robot is essentially a reconfigurable robot system in which locomotive modules such as legs, wheels, propellers, etc. can be attached at various locations on the body. The equations of motion for the robot are developed in terms of a set of generalized inputs related to the constraints and configurations of each individual module. The motion planning method developed in Lafferriere and Sussmann (1991) and extended in Goodwine and Burdick (1997) can then be modified to generate required trajectories for the modular robot. These methods generally lead to sequential motion plans-we also develop conditions under which two consecutive plans can be executed simultaneously.
This paper relates two problems: enumeration of metamorphic robots in mechanical engineering and enumeration of polyforms in mathematics. First, a review of the two problems is presented. Some particularities of the enumeration of metamorphic robots and theoretical results about the enumeration of polyforms are described in order to create a bridge between these problems. Then, based on the results and the complexity of the enumeration of polyforms, some directions for further works on the planar enumeration of metamorphic robots are proposed.
