This paper presents the mechanical design of a modular robot called the 3D M-Block, a 50mm cubic module capable of both independent and lattice-based locomotion. The first M-Blocks described in [1] could pivot about one axis of rotation only. In contrast, the 3D M-blocks can exert on demand both forward and backward torques about three orthogonal axes, for a total of six directions. The 3D M-Blocks transform these torques into pivoting motions which allow the new 3D M-Blocks to move more freely than their predecessors. Individual modules can employ pivoting motions to independently roll across a wide variety of surfaces as well as to join and move relative to other M-Blocks as part of a larger collective structure. The 3D M-Block maintains the same form factor and magnetic bonding system as the one-dimensional M-Blocks [1], but a new fabrication process supports more efficient and precise production. The 3D M-blocks provide a robust and capable modular self-reconfigurable robotic platform able to support swarm robot applications through individual module capabilities and self-reconfiguring robot applications using connected lattices of modules.

3D M-Blocks: Self-reconfiguring robots capable of locomotion via pivoting in three dimensions

This article reviews the current state of the art in the development of modular reconfigurable robot (MRR) systems and suggests promising future research directions. A wide variety of MRR systems h...

Modular Reconfigurable Robotics

Roombots: A hardware perspective on 3D self-reconfiguration and locomotion with a homogeneous modular robot

This article presents a review on trends in modular reconfigurable robots, comparing the evolution of the features of the most significant robots over the years and focusing on the latest designs. These features are reconfiguration, docking, degrees of freedom, locomotion, control, communications, size, and powering. For each feature, some of the most relevant designs are presented and the current trends in the design are discussed.

Current trends in reconfigurable modular robots design

Floor cleaning robot with reconfigurable mechanism

In the paper, a concept of novel self-reconfigurable robotic system made of the autonomous robotic modules has been reviewed. Each robotic module is made of simple structure and few degrees of freedom; however, a group of the modules is able to change its connective configuration by changing their local connections and has functionality of robotic system which is capable of generating complicated motions and accomplishing a large variety of tasks, such as: transportation, exploration, inspection, construction and in-situ resource utilization. Multimode locomotion and self-reconfiguration are the basic and essential abilities for the self-reconfigurable robotic system. Based on this concept, a new self-reconfiguration system, UBot robotic system that combines the advantages from the chain-based and lattice-based robots has been proposed. Each UBot module which is cubic structure based on universal joint has two rotational DOF and four connecting surfaces that can connect to or disconnect from adjacent modules. The smart structure and the reliable connecting mechanism of the modules make the robot flexible enough to complete multimode locomotion and self-reconfiguration. This paper demonstrates the design philosophy of the UBot module and a solution for multimode motions and self-reconfiguration using the UBot system. The system can complete motion in the modes of quadruped, chain and loop configuration. Besides, the system can deform from one mode to the other though self-reconfiguration. All the proposed methods have been verified though simulations and real hardware experiments.

A new self-reconfigurable modular robotic system UBot: Multi-mode locomotion and self-reconfiguration

The design philosophy of UBot module is proposed in this paper. A novel modular self-reconfigurable robot called UBot is presented. The UBot module is compact, strength, flexible and capable of performing efficient locomotion, self-reconfiguration and manipulation tasks. This robot consists of several standard modules. Each module is cubic structure based on universal joint, and has four connecting surfaces that can connect to or disconnect from adjacent modules. A hook-type connecting mechanism is designed, which could connect to or disconnect from adjacent modules quickly and reliably. This mechanism is self-locking after connected, and energy-saving. Wireless communication technology was employed in the module, which can avoid cable-winding and improve flexibility of locomotion and self-reconfiguration. One simple orientation detecting system is designed, which can detect four possible orientations by metal contact points. A group of UBot modules can adapt their configuration and function to changing environment without external help by changing their connections and positions. To achieve small oversize and mass, compact mechanical structures and electrical systems are adopted in module designing. At last, the experiment of connecting mechanism and locomotion of UBot has been implemented.

The UBot modules for self-reconfigurable robot

Autonomous docking is still a major challenge for self-reconfigurable robots, it is an essential capability for the system to realize reconstruction, self-repairing and even for completing operational tasks in the complex environment. In this paper, we developed a new sensor module for the UBot self-reconfigurable robot system, and proposed a novel docking method for precise docking between module group with the sensor module and the target module. We describe this automated docking progress as three steps: The visual pre-positioning process; Precise positioning through hall sensors; Crawling and self-locking by the hook-type connecting systems. Finally, this method is proved to be effective by the S-4 module group automatic docking experiment.

Multisensor-based autonomous docking for UBot modular reconfigurable robot

Self-reconfiguration (SR) robots can take any form by connecting the modules in different configurations. The configurations formed by the modules have many degrees of freedom; therefore, designing a control method for whole body locomotion is more difficult than for the conventional robots. This paper utilizes central pattern generators (CPGs). Each neural oscillator of the network of CPGs works as a distributed joint controller of each module. Three kinds of snake-like configurations and their locomotion gaits have been summarized. Pitch-Yaw connecting snake-like configuration has the most flexibility, which is our research emphasis. Four moving gaits of the Pitch-Yaw have been controlled by the network of the CPG oscillators successfully, that is: worming, side winding, rolling and turning. All the locomotions have been simulated in ADAMS, the simulation experiment has verified the control method of CPGs we designed.

CPG based locomotion control of pitch-yaw connecting modular self-reconfigurable robots

In this paper, we constructed a three-dimensional dynamic simulator for HitMSR II which is a module self-reconfigurable robot system composed of single-rotational-freedom modules. Downhill Simplex Optimization Algorithm were used to evolve the locomotion of the robot ensuring that it is possible to get access to the relatively more optimized locomotion gaits parameters after large enough numbers of iterative calculations under a certain evaluation function. What’s more. We selected worm-shaped configuration to research on the validation of locomotive evolution both in simulation and experiment.

Research on Locomotive Evolution Based on Worm-Shaped Configuration of Self-reconfigurable Robot HitMSR II

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