Advertisement

HyMod: A 3-DOF Hybrid Mobile and Self-Reconfigurable Modular Robot and its Extensions

  • Christopher Parrott
  • Tony J. Dodd
  • Roderich Groß
Chapter
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 6)

Abstract

This paper presents HyMod, a hybrid self-reconfigurable modular robot, and its extensions. HyMod units feature three rotational degrees of freedom and four connectors, allowing them to move independently via differential wheels and group with other units to form arbitrary cubic lattice structures. The design is built around the high-speed genderless (HiGen) connection mechanism, allowing for single-sided disconnect and enabling units to rotate freely in place within their lattice positions. To our knowledge, HyMod is the first modular robot to combine efficient single module locomotion with free in place rotation. An analysis of HyMod is presented, as well as details of its mechanics and electronics. To augment the capabilities of HyMod, a number of extension modules are introduced. Hybrid modular robots with extensions, such as the system presented here, could see use in the areas of reconfigurable manufacturing, search and rescue, and space exploration.

Notes

Acknowledgements

This research was funded by the Engineering and Physical Sciences Research Council (EPSRC) through scholarship support (C. Parrott) and grant no. EP/K033948/1.

References

  1. 1.
    Anderson, J.: RoboPlay 2014 - mecanum linkbot interlude. YouTube Video. http://www.youtube.com/watch?v=GqClygCJpKs (2016). Accessed 8 July 2016
  2. 2.
    Christensen, D.J., Østergaard, E.H., Lund, H.H.: Metamodule control for the ATRON self-reconfigurable robotic system. In: Proceedings, 8th Conference on Intelligent Autonomous Systems, pp. 685–692 (2004)Google Scholar
  3. 3.
    Davey, J., Kwok, N., Yim, M.: Emulating self-reconfigurable robots - design of the SMORES system. In: Proceedings, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4464–4469 (2012)Google Scholar
  4. 4.
    Dinh, T.K., Spröwitz, A., Bonardi, S., Ijspeert, A.: Alignment of a Roombot metamodule and extendable grid (2010) (Summer Project)Google Scholar
  5. 5.
    Garcia, R.F.M., Stoy, K., Christensen, D.J., Lyder, A.: A self-reconfigurable communication network for modular robots. In: Proceedings, 1st International Conference on Robot Communication and Coordination, pp. 23–30 (2007)Google Scholar
  6. 6.
    Groß, R., Bonani, M., Mondada, F., Dorigo, M.: Autonomous self-assembly in swarm-bots. IEEE Trans. Robot. 22(6), 1115–1130 (2006)Google Scholar
  7. 7.
    Jing, G., Tosun, T., Yim, M., Kress-Gazit, H.: An end-to-end system for accomplishing tasks with modular robots. In: Proceedings, 2016 Robotics: Science and Systems (2016)Google Scholar
  8. 8.
    Kernbach, S., Schlachter, F., Humza, R., Liedke, J., Popesku, S., Russo, S., Ranzani, T., Manfredi, L., Stefanini, C., Matthias, R.: Heterogeneity for increasing performance and reliability of self-reconfigurable multi-robot organisms. In: Proceedings, IROS 2011 Reconfigurable Modular Robotics Workshop (2011)Google Scholar
  9. 9.
    Kurokawa, H., Tomita, K., Kamimura, A., Kokaji, S., Hasuo, T., Murata, S.: Distributed self-reconfiguration of M-TRAN III modular robotic system. Int. J. Robot. Res. 27(3–4), 373–386 (2008)CrossRefGoogle Scholar
  10. 10.
    Kutzer, M.D.M., Moses, M.S., Brown, C.Y., Scheidt, D.H., Chirikjian, G.S., Armand, M.: Design of a new independently-mobile reconfigurable modular robot. In: Proceedings, 2010 IEEE International Conference on Robotics and Automation, pp. 2758–2764 (2010)Google Scholar
  11. 11.
    Liedke, J., Matthias, R., Winkler, L., Wörn, H.: The collective self-reconfigurable modular organism (CoSMO). In: 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 1–6 (2013)Google Scholar
  12. 12.
    Lyder, A., Garcia, R.F.M., Stoy, K.: Genderless connection mechanism for modular robots introducing torque transmission between modules. In: Proceedings, ICRA 2010 Workshop on Modular Robots, State of the Art, pp. 77–81 (2010)Google Scholar
  13. 13.
    Online Supplementary Material (2016). http://naturalrobotics.group.shef.ac.uk/supp/2016-005/
  14. 14.
    Østergaard, E.H., Kassow, K., Beck, R., Lund, H.H.: Design of the ATRON lattice-based self-reconfigurable robot. Auton. Robot. 21(2), 165–183 (2006)CrossRefGoogle Scholar
  15. 15.
    Parrott, C., Dodd, T.J., Groß, R.: HiGen: a high-speed genderless mechanical connection mechanism with single-sided disconnect for self-reconfigurable modular robots. In: Proceedings, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3926–3932 (2014)Google Scholar
  16. 16.
    Parrott, C., Dodd, T.J., Groß, R.: Towards a 3-DOF mobile and self-reconfigurable modular robot. In: IROS 2014 Modular and Swarm Systems Workshop (unpublished) (2014)Google Scholar
  17. 17.
    Ryland, G.G., Cheng, H.H.: Design of iMobot, an intelligent reconfigurable mobile robot with novel locomotion. In: Proceedings, 2010 IEEE International Conference on Robotics and Automation, pp. 60–65 (2010)Google Scholar
  18. 18.
    Spröwitz, A., Moeckel, R., Vespignani, M., Bonardi, S., Ijspeert, A.: Roombots: a hardware perspective on 3D self-reconfiguration and locomotion with a homogeneous modular robot. Robot. Auton. Syst. 62(7), 1016–1033 (2014)CrossRefGoogle Scholar
  19. 19.
    Tang, S., Zhu, Y., Zhao, J., Cui, X.: The UBot modules for self-reconfigurable robot. In: Proceedings, 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, pp. 529–535 (2009)Google Scholar
  20. 20.
    Wei, H., Chen, Y., Tan, J., Wang, T.: Sambot: a self-assembly modular robot system. Proc. IEEE/ASME Trans. Mech. 16(4), 745–757 (2011)CrossRefGoogle Scholar
  21. 21.
    Yerpes, A., Baca, J., Escalera, J.A., Ferre, M., Aracil, R.: Modular robot based on 3 rotational DoF modules. In: Proceedings, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 889–894 (2008)Google Scholar
  22. 22.
    Yim, M., Duff, D.G., Roufas, K.D.: Polybot: a modular reconfigurable robot. In: Proceedings, 2000 IEEE International Conference on Robotics and Automation, pp. 514–520 (2000)Google Scholar
  23. 23.
    Yim, M., m. Shen, W., Salemi, B., Rus, D., Moll, M., Lipson, H., Klavins, E., Chirikjian, G.S.: Modular self-reconfigurable robot systems [grand challenges of robotics]. IEEE Robot. Automa. Mag. 14(1), 43–52 (2007)Google Scholar
  24. 24.
    Yim, M., Shirmohammadi, B., Sastra, J., Park, M., Dugan, M., Taylor, C.J.: Towards robotic self-reassembly after explosion. In: Proceedings, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2767–2772 (2007)Google Scholar
  25. 25.
    Zykov, V., Chan, A., Lipson, H.: Molecubes: an open-source modular robotics kit. In: Proceedings, IROS 2007 Self-Reconfigurable Robotics Workshop (2007)Google Scholar
  26. 26.
    Zykov, V., William, P., Lassabem, N., Lipson, H.: Molecubes extended: diversifying capabilities of open-source modular robotics. In: Proceedings, IROS 2008 Self-Reconfigurable Robotics Workshop (2008)Google Scholar

Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Christopher Parrott
    • 1
  • Tony J. Dodd
    • 1
  • Roderich Groß
    • 1
  1. 1.Department of Automatic Control and Systems EngineeringThe University of SheffieldSheffieldUK

Personalised recommendations