Design of a four-DOF Modular Self-Reconfigurable Robot with novel gaits

Khoa D. Chu, S. G.M. Hossain, Carl A. Nelson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

Throughout the modern age, exploration of the unknown has been an attractive pursuit to seekers of knowledge. One of the primary frontiers for exploration today involves planetary and lunar environments. Exploration in these environments can involve many different types of tasks in a broad range of environmental conditions. Modular Self-Reconfigurable Robots (MSRs) would be beneficial for completing these tasks in unstructured environments, while having the ability to complete multiple assigned functions. Since payload is a critical concern, a lighter and more dexterous MSR is preferable. This research focuses on the design of a robot that has these qualities. A chain-type modular robot with four degrees of freedom per module has been designed with the goal of reducing weight and size while increasing range of motion. Forward kinematic transformations were derived to analyze the available workspace provided by the MSR. Radio communication and proximity sensing ability were provided in the individual MSR modules to locate each other. The modules are designed to maneuver independently using their individual navigation capability as well as connect to each other by means of a docking mechanism. Locomotion gaits for such multi-module robot chains are also described.

Original languageEnglish (US)
Title of host publicationASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
Pages747-754
Number of pages8
EditionPARTS A AND B
DOIs
StatePublished - Dec 1 2011
EventASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 - Washington, DC, United States
Duration: Aug 28 2011Aug 31 2011

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume6

Conference

ConferenceASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
CountryUnited States
CityWashington, DC
Period8/28/118/31/11

Fingerprint

Gait
Robot
Robots
Module
Modular robots
Radio communication
Docking
Locomotion
Pursuit
Workspace
Design
Kinematics
Navigation
Range of data
Proximity
Sensing
Degree of freedom
Unknown
Motion

Keywords

  • Modular Robots
  • Reconfigurable robots
  • Robot gaits
  • Unstructured environments

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

Cite this

Chu, K. D., Hossain, S. G. M., & Nelson, C. A. (2011). Design of a four-DOF Modular Self-Reconfigurable Robot with novel gaits. In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 (PARTS A AND B ed., pp. 747-754). (Proceedings of the ASME Design Engineering Technical Conference; Vol. 6, No. PARTS A AND B). https://doi.org/10.1115/DETC2011-47746

Design of a four-DOF Modular Self-Reconfigurable Robot with novel gaits. / Chu, Khoa D.; Hossain, S. G.M.; Nelson, Carl A.

ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011. PARTS A AND B. ed. 2011. p. 747-754 (Proceedings of the ASME Design Engineering Technical Conference; Vol. 6, No. PARTS A AND B).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Chu, KD, Hossain, SGM & Nelson, CA 2011, Design of a four-DOF Modular Self-Reconfigurable Robot with novel gaits. in ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011. PARTS A AND B edn, Proceedings of the ASME Design Engineering Technical Conference, no. PARTS A AND B, vol. 6, pp. 747-754, ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011, Washington, DC, United States, 8/28/11. https://doi.org/10.1115/DETC2011-47746
Chu KD, Hossain SGM, Nelson CA. Design of a four-DOF Modular Self-Reconfigurable Robot with novel gaits. In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011. PARTS A AND B ed. 2011. p. 747-754. (Proceedings of the ASME Design Engineering Technical Conference; PARTS A AND B). https://doi.org/10.1115/DETC2011-47746
Chu, Khoa D. ; Hossain, S. G.M. ; Nelson, Carl A. / Design of a four-DOF Modular Self-Reconfigurable Robot with novel gaits. ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011. PARTS A AND B. ed. 2011. pp. 747-754 (Proceedings of the ASME Design Engineering Technical Conference; PARTS A AND B).
@inproceedings{3e52556078e448268473c9be47151a93,
title = "Design of a four-DOF Modular Self-Reconfigurable Robot with novel gaits",
abstract = "Throughout the modern age, exploration of the unknown has been an attractive pursuit to seekers of knowledge. One of the primary frontiers for exploration today involves planetary and lunar environments. Exploration in these environments can involve many different types of tasks in a broad range of environmental conditions. Modular Self-Reconfigurable Robots (MSRs) would be beneficial for completing these tasks in unstructured environments, while having the ability to complete multiple assigned functions. Since payload is a critical concern, a lighter and more dexterous MSR is preferable. This research focuses on the design of a robot that has these qualities. A chain-type modular robot with four degrees of freedom per module has been designed with the goal of reducing weight and size while increasing range of motion. Forward kinematic transformations were derived to analyze the available workspace provided by the MSR. Radio communication and proximity sensing ability were provided in the individual MSR modules to locate each other. The modules are designed to maneuver independently using their individual navigation capability as well as connect to each other by means of a docking mechanism. Locomotion gaits for such multi-module robot chains are also described.",
keywords = "Modular Robots, Reconfigurable robots, Robot gaits, Unstructured environments",
author = "Chu, {Khoa D.} and Hossain, {S. G.M.} and Nelson, {Carl A.}",
year = "2011",
month = "12",
day = "1",
doi = "10.1115/DETC2011-47746",
language = "English (US)",
isbn = "9780791854839",
series = "Proceedings of the ASME Design Engineering Technical Conference",
number = "PARTS A AND B",
pages = "747--754",
booktitle = "ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011",
edition = "PARTS A AND B",

}

TY - GEN

T1 - Design of a four-DOF Modular Self-Reconfigurable Robot with novel gaits

AU - Chu, Khoa D.

AU - Hossain, S. G.M.

AU - Nelson, Carl A.

PY - 2011/12/1

Y1 - 2011/12/1

N2 - Throughout the modern age, exploration of the unknown has been an attractive pursuit to seekers of knowledge. One of the primary frontiers for exploration today involves planetary and lunar environments. Exploration in these environments can involve many different types of tasks in a broad range of environmental conditions. Modular Self-Reconfigurable Robots (MSRs) would be beneficial for completing these tasks in unstructured environments, while having the ability to complete multiple assigned functions. Since payload is a critical concern, a lighter and more dexterous MSR is preferable. This research focuses on the design of a robot that has these qualities. A chain-type modular robot with four degrees of freedom per module has been designed with the goal of reducing weight and size while increasing range of motion. Forward kinematic transformations were derived to analyze the available workspace provided by the MSR. Radio communication and proximity sensing ability were provided in the individual MSR modules to locate each other. The modules are designed to maneuver independently using their individual navigation capability as well as connect to each other by means of a docking mechanism. Locomotion gaits for such multi-module robot chains are also described.

AB - Throughout the modern age, exploration of the unknown has been an attractive pursuit to seekers of knowledge. One of the primary frontiers for exploration today involves planetary and lunar environments. Exploration in these environments can involve many different types of tasks in a broad range of environmental conditions. Modular Self-Reconfigurable Robots (MSRs) would be beneficial for completing these tasks in unstructured environments, while having the ability to complete multiple assigned functions. Since payload is a critical concern, a lighter and more dexterous MSR is preferable. This research focuses on the design of a robot that has these qualities. A chain-type modular robot with four degrees of freedom per module has been designed with the goal of reducing weight and size while increasing range of motion. Forward kinematic transformations were derived to analyze the available workspace provided by the MSR. Radio communication and proximity sensing ability were provided in the individual MSR modules to locate each other. The modules are designed to maneuver independently using their individual navigation capability as well as connect to each other by means of a docking mechanism. Locomotion gaits for such multi-module robot chains are also described.

KW - Modular Robots

KW - Reconfigurable robots

KW - Robot gaits

KW - Unstructured environments

UR - http://www.scopus.com/inward/record.url?scp=84863585285&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84863585285&partnerID=8YFLogxK

U2 - 10.1115/DETC2011-47746

DO - 10.1115/DETC2011-47746

M3 - Conference contribution

AN - SCOPUS:84863585285

SN - 9780791854839

T3 - Proceedings of the ASME Design Engineering Technical Conference

SP - 747

EP - 754

BT - ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011

ER -