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Optimal Distribution of Active Modules in Modular Robots

Publications associées (35)

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Memento Mori: Reliable robustness in self-reconfigurable modular robots

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Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of function ...

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3PAC: A Plug-and-Play System for Distributed Power Sharing and Communication in Modular Robots

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In modular robotics, there is classically a compromise between coupling complexity and functionality. The mechanical and electrical designs are linked, such that adding electrical features often requires redesigning the mechanical components. However, incr ...

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Two prominent categories for achieving coordinated multirobot displacement are flocking and navigation in formation. Both categories have their own body of literature and characteristics, including their respective advantages and disadvantages. While typic ...

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Adaptability and ease of programming are key features necessary for a wider spread of robotics in factories and everyday assistance. Learning from demonstration (LfD) is an approach to address this problem. It aims to develop algorithms and interfaces such ...

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Automatic Couplings with Mechanical Overload Protection for Modular Robots

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This paper presents an automatic coupling mechanism with mechanical overload protection for use in modular robotic systems. The genderless coupling incorporates a novel safety mechanism that disengages two modules at a pre-defined torque threshold. Several ...

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Perception, control and planning for (self-)reconfigurable modular robots

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Modular robots (MRs) consist of similar modules that can be configured into different shapes. MRs introduce a number of benefits over conventional robots specifically designed for a task. Self-reconfigurable modular robots (SRMRs) are a sub-category of MRs ...

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An Optimal Planning Framework to Deploy Self-Reconfigurable Modular Robots

Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser, Hala Khodr, Alexandre Bernardino

Self-reconfiguration is a hard problem due to the high dimensionality of self-reconfigurable modular systems. Searchbased approaches offer complete and optimal solutions. However, naive search algorithms cannot directly solve self-reconfiguration tasks in ...

2019

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Reconfigurability in versatile systems of modular robots is achieved by changing the morphology of the overall structure as well as by connecting and disconnecting modules. Recurrent connectivity changes can cause misalignment that leads to mechanical fail ...

2018

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Modular self-folding robots are versatile systems that can change their own shape from two-dimensional patterns at instant commands. This reconfigurability is commonly restrained by power limitation in autonomous environments. The robotic systems with insu ...

IEEE2018

Skating with a Force Controlled Quadrupedal Robot

Marco Hutter

Traditional legged robots are capable of traversing challenging terrain, but lack of energy efficiency when compared to wheeled systems operating on flat environments. The combination of both locomotion domains overcomes the trade-off between mobility and ...

2018