Publication

Morphological flexibility in robotic systems through physical polygon meshing

Résumé

Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying mechanical structure, materials or control methods. Soft robots, for instance, employ malleable materials to adapt to their environment, modular robots assemble multiple units into various three-dimensional configurations and insect-like swarm robots interact in large numbers to fulfil tasks. However, the promise of broad functional versatility in shape-changing robots has so far been constrained by the practical implications of either increasing the degree of morphological flexibility or addressing specific applications. Here we report a method for creating robotic systems that realizes both sides of this trade-off through the introduction of physical polygon meshing. By abstracting functional three-dimensional structures, collections of shape-changing robotic modules can recreate diverse three-dimensional shapes and dynamically control the resulting morphology. We demonstrate this approach by developing a system of polygon robots that change their own shape, attach to each other, communicate and reconfigure to form functional and articulated structures. Applying the system to three distinct application areas of robotics involving user interaction, locomotion and manipulation, our work demonstrates how physical polygon meshing provides a new framework for more versatile intelligent machines.|Robots that can change their shape offer flexible functionality. A modular robotic platform is shown that implements physical polygon meshing, by combining triangles with sides of adjustable lengths, allowing flexible three-dimensional shape configurations.

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Proximité ontologique
Concepts associés (35)
Robotique
thumb|upright=1.5|Nao, un robot humanoïde. thumb|upright=1.5|Des robots industriels au travail dans une usine. La robotique est l'ensemble des techniques permettant la conception et la réalisation de machines automatiques ou de robots. L'ATILF donne la définition suivante du robot : « il effectue, grâce à un système de commande automatique à base de microprocesseur, une tâche précise pour laquelle il a été conçu dans le domaine industriel, scientifique, militaire ou domestique ».
Robot
vignette|Atlas (2013), robot androïde de Boston Dynamics vignette|Bras manipulateurs dans un laboratoire (2009) vignette|NAO (2006), robot humanoïde éducatif d'Aldebaran Robotics vignette|DER1 (2005), un actroïde d'accueil vignette|Roomba (2002), un robot ménager Un robot est un dispositif mécatronique (alliant mécanique, électronique et informatique) conçu pour accomplir automatiquement des tâches imitant ou reproduisant, dans un domaine précis, des actions humaines.
Self-reconfiguring modular robot
Modular self-reconfiguring robotic systems or self-reconfigurable modular robots are autonomous kinematic machines with variable morphology. Beyond conventional actuation, sensing and control typically found in fixed-morphology robots, self-reconfiguring robots are also able to deliberately change their own shape by rearranging the connectivity of their parts, in order to adapt to new circumstances, perform new tasks, or recover from damage.
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