This paper presents the design and realization of a multimobile robot system joint locomotion (JL)-2, which features not only a docking and 3D posture-adjusting capability between three robots but also a multifunctional docking gripper. By combining a parallel mechanism and a cam gripper together, this paper develops a docking manipulator, which endows each robot with a simple but forceful grasping capability. Furthermore, the docking manipulator can overcome the possible aligning errors between two robots and interconnect them. A motorized spherical joint will be formed between two docked robots, which will enhance the locomotion flexibility of the whole system. The docking mechanism is discussed in detail, including the docking procedure and analyses of self-aligning ability. A series of experiments not only testify the basic performances of JL-2 but also reveal the limits of current prototype, e.g., the overconstraint connecting pattern, the unbalanced self-aligning performance, etc.
Issue Section:
Technical Briefs
1.
Arkin
, R.
, and Balch
, T.
, 1998, Cooperative Multiagent Robotic Systems AI-Based Mobile Robots: Case Studies of Successful Robot Systems
, D.
Kortenkamp
, R.
Bonasso
, and R.
Murphy
, eds., MIT
, Cambridge, MA
.2.
Yim
, M.
, Shen
, W. M.
, Salemi
, B.
, Rus
, D.
, Moll
, M.
, Lipson
, H.
, Klavins
, E.
, and Chirikjian
, G. S.
, 2007, “Modular Self-Reconfigurable Robot Systems
,” IEEE Rob. Autom. Mag.
1070-9932, 14
(1
), pp. 43
–52
.3.
Murata
, S.
, Yoshida
, E.
, Kamimura
, A.
, Kurokawa
, H.
, Tomita
, K.
, and Kokaji
, S.
, 2002, “M-Tran: Self-Reconfigurable Modular Robotic System
,” IEEE/ASME Trans. Mechatron.
1083-4435, 7
(4
), pp. 431
–441
.4.
Gilpin
, K.
, Kotay
, K.
, Rus
, D.
, and Vasilescu
, I.
, 2008, “Miche: Modular Shape Formation by Self-Disassembly
,” Int. J. Robot. Res.
0278-3649, 27
(3–4
), pp. 345
–372
.5.
Suh
, J. W.
, Homans
, S. B.
, and Yim
, M.
, 2002, “Telecubes: Mechanical Design of a Module for Self-Reconfigurable Robotics
,” Proceedings of the IEEE International Conference on Robotics and Automation
, Washington, DC, pp. 4095
–4101
.6.
Goldstein
, S. C.
, Campbell
, J. D.
, and Mowry
, T. C.
, 2005, “Programmable Matter
,” Computer
0018-9162, 38
(6
), pp. 99
–101
.7.
Zykov
, V.
, Mytilinaios
, E.
, Adams
, B.
, and Lipson
, H.
, 2005, “Self-Reproducing Machines
,” Nature (London)
0028-0836, 435
(7039
), pp. 163
–164
.8.
Karagozler
, M. E.
, Campbell
, J. D.
, Fedder
, G. K.
, Goldstein
, S. C.
, Weller
, M. P.
, and Yoon
, B. W.
, 2007, “Electrostatic Latching for Inter-Module Adhesion, Power Transfer, and Communication in Modular Robots
,” Proceedings of the IEEE International Conference on Intelligent Robots and Systems
, San Diego, pp. 2779
–2786
.9.
Murata
, S.
, and Kurokawa
, H.
, 2007, “Self-Reconfigurable Robot: Shape Changing Cellular Robots Can Exceed Conventional Robot Flexibility
,” IEEE Rob. Autom. Mag.
1070-9932, 14
(1
), pp. 71
–78
.10.
Yim
, M.
, Zhang
, Y.
, Roufas
, K.
, Duff
, D.
, and Eldershaw
, C.
, 2002, “Connecting and Disconnecting for Chain Self-Reconfiguration With PolyBot
,” IEEE/ASME Trans. Mechatron.
1083-4435, 7
(4
), pp. 442
–451
.11.
Sproewitz
, A.
, Asadpour
, M.
, Bourquin
, Y.
, and Ijspeert
, A. J.
, 2008, “An Active Connection Mechanism for Modular Self-Reconfigurable Robotic Systems Based on Physical Latching
,” Proceedings of the IEEE International Conference on Robotics and Automation
, Pasadena, CA, pp. 3508
–3513
.12.
Mondada
, F.
, Bonani
, M.
, Magnenat
, S.
, Guignard
, A.
, and Floreano
, D.
, 2004, “Physical Connections and Cooperation in Swarm Robotics
,” Proceedings of Eighth Conference on Intelligent Autonomous Systems
, pp. 53
–60
.13.
Østergaard
, E. H.
, Kassow
, K.
, Beck
, R.
, and Lund
, H. H.
, 2006, “Design of the ATRON Lattice-Based Self-Reconfigurable Robot
,” Auton. Rob.
0929-5593, 21
(2
), pp. 165
–183
.14.
Shen
, W. -M.
, Salemi
, B.
, and Will
, P.
, 2002, “Hormone-Inspired Adaptive Communication and Distributed Control for CONRO Self-Reconfigurable Robots
,” IEEE Trans. Rob. Autom.
1042-296X, 18
(5
), pp. 700
–712
.15.
Nilsson
, M.
, 2002, “Heavy Duty Connectors for Self-Reconfiguring Robots
,” Proceedings of the IEEE International Conference on Robotics and Automation
, Washington, DC, pp. 4071
–4076
.16.
Vona
, M.
, Detweiler
, C.
, and Rus
, D.
, 2008, “Shady: Robust Truss Climbing With Mechanical Compliances
,” Experimental Robotics
, 39
, pp. 431
–440
. 0002-782017.
Zykov
, V.
, and Lipson
, H.
, 2006, “Fluidic Stochastic Modular Robotics: Revisiting the System Design
,” Proceedings of the Robotics Science and Systems Workshop on Self-Reconfigurable Modular Robots
, Philadelphia, PA.18.
Zykov
, V.
, Mytilinaios
, E.
, Desnoyer
, M.
, and Lipson
, H.
, 2007, “Evolved and Designed Self-Reproducing Modular Robotics
,” IEEE Trans. Robot.
, 23
(2
), pp. 308
–319
.19.
Brown
, H. B.
, Weghe
, J. M. V.
, Bererton
, C. A.
, and Khosla
, P. K.
, 2002, “Millibot Trains for Enhanced Mobility
,” IEEE/ASME Trans. Mechatron.
1083-4435, 7
(2
), pp. 452
–461
.20.
Gross
, R.
, Bonani
, M.
, Mondada
, F.
, and Dorigo
, M.
, 2006, “Autonomous Self-Assembly in Swarm-Bots
,” IEEE Trans. Robot.
, 22
(6
), pp. 1115
–1130
.21.
Hirose
, S.
, Shirasu
, T.
, and Fukushima
, F. E.
, 1994, “A Proposal for Cooperative Robot ‘Gunryu’ Composed of Autonomous Segments
,” Proceedings of the IEEE/RSJ/GI International Conference on Robotics and Autonomous Systems
, Munich, Germany, pp. 1532
–1538
.22.
Kawauchi
, Y.
, Inaba
, M.
, and Fukuda
, T.
, 1994, “Dynamically Reconfigurable Intelligent System of Cellular Robotic System (CEBOT) With Entropy Min/Max Hybrid Algorithm
,” Proceedings of the IEEE International Conference on Robotics and Automation
, San Diego, CA, pp. 464
–469
.23.
Kawakami
, A.
, Torii
, A.
, Motomura
, K.
, and Hirose
, S.
, 2002, “SMC Rover: Planetary Rover With Transformable Wheels
,” Proceedings of the 41st SICE Annual Conference
, pp. 157
–162
.24.
Masam
, A.
, Takayama
, T.
, and Hirose
, S.
, 2004, “Development of ‘Souryu-III’: Connected Crawler Vehicle for Inspection Inside Narrow and Winding Spaces
,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
, Sendai, Japan, pp. 52
–57
.25.
Borenstein
, J.
, Hansen
, M.
, and Borrell
, A.
, 2007, “The OmniTread OT-4 Serpentine Robot—Design and Performance
,” J. Field Robot.
, 24
(7
), pp. 601
–621
.26.
Miyanaka
, H.
, Wada
, N.
, Kamegawa
, T.
, Sato
, N.
, Tsukui
, S.
, Igarashi
, H.
, and Matsuno
, F.
, 2007, “Development of an Unit Type Robot ‘KOHGA2’ With Stuck Avoidance Ability
,” Proceedings of the IEEE International Conference on Robotics and Automation
, Roma, Italy, pp. 3877
–3882
.27.
Liu
, J.
, Wang
, Y.
, Li
, B.
, Ma
, S. G.
, Wang
, J.
, and Cao
, H.
, 2006, “Transformation Technique Research of the Improved Link-Type Shape Shifting Module Robot
,” Proceedings of the IEEE International Conference on Mechatronics and Automation
, Luoyang, China, pp. 287
–293
.28.
Birkenhofer
, C.
, Kerscher
, T.
, Zollner
, J. M.
, and Dillmann
, R.
, 2008, “Motion Planning for Multi-Segmented Robots in Complex Scenarios
,” Proceedings of the IEEE International Workshop on Safety, Security and Rescue Robotics
, Sendai, Japan, pp. 47
–52
.29.
Wang
, W.
, Zhang
, H. X.
, Zhang
, J. W.
, and Zong
, G. H.
, 2008, “Force Cooperation in a Reconfigurable Field Multi-Robot System
,” J. Field Robot.
, 25
(11–12
), pp. 922
–938
.30.
Molino
, V.
, Madhavan
, R.
, Messina
, E.
, Down
, A.
, Balakirsky
, S.
, and Jacoff
, A.
, 2007, “Traversability Metrics for Rough Terrain Applied to Repeatable Test Methods
,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robotics and Systems
, San Diego, CA, pp. 1787
–1794
.31.
Ben-Tzvi
, P.
, Goldenberg
, A. A.
, and Zu
, J. W.
, 2008, “Design and Analysis of a Hybrid Mobile Robot Mechanism With Compounded Locomotion and Manipulation Capability
,” ASME J. Mech. Des.
0161-8458, 130
, p. 072302
.Copyright © 2010
by American Society of Mechanical Engineers
You do not currently have access to this content.
