Enumeration of configurations and their kinematics for ModRED II modular robots

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

Abstract

Modular robotics is a popular topic for robotic applications and design. The reason behind this popularity is the ability to use and re-use the same robot modules for accomplishing different tasks through reconfiguration. The robots are capable of self-reconfiguration based on the requirements of the task and environmental constraints. It is possible to have a large number of configuration combinations for the same set of modules. Therefore, it is important to identify unique configurations from among the full set of possible configurations and establish a kinematic strategy for each before reconfiguring the robots into a new shape. This becomes more difficult for robot units having more than one connection type and more degrees of freedom. For example, ModRED II modules have two types of connections and four degrees of freedom per module. In this paper, the set of configurations is enumerated, and determination of configuration isomorphism is accomplished for ModRED II modules using graph theory. Kinematic equations are then derived for unique configurations. The kinematic method is then demonstrated for certain example configurations using ModRED II modules.

Original languageEnglish (US)
Title of host publication40th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791850169
DOIs
StatePublished - Jan 1 2016
EventASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016 - Charlotte, United States
Duration: Aug 21 2016Aug 24 2016

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5B-2016

Other

OtherASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016
CountryUnited States
CityCharlotte
Period8/21/168/24/16

ASJC Scopus subject areas

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

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  • Cite this

    Hossain, K. M., Nelson, C. A., & Dasgupta, P. (2016). Enumeration of configurations and their kinematics for ModRED II modular robots. In 40th Mechanisms and Robotics Conference (Proceedings of the ASME Design Engineering Technical Conference; Vol. 5B-2016). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2016-60307