TY - GEN
T1 - Hardware design and testing of ModRED
T2 - 2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2012
AU - Hossain, S. G.M.
AU - Nelson, Carl A.
AU - Dasgupta, Prithviraj
PY - 2012
Y1 - 2012
N2 - Unstructured environments are challenging for conventional robots, and modular self-reconfigurable robots (MSRs) can be deployed to overcome this challenge. The goal of the current work was to develop a flexible, cost effective multi-module robot system capable of self-reconfiguration and achieving various gaits in unstructured environments. This paper discusses the communication aspects of the Modular Robot for Exploration and Discovery (ModRED) robot system from a hardware perspective. To ensure enhanced flexibility and local autonomy as well as better reconfiguration, each robot module is built with four independent degrees of freedom, and a novel docking interface provides interconnection of modules. The prototyping effort is described with emphasis on the implementation of inter-module communication. The electronic hardware layout and control system are described, and the communication system is outlined. Finally, some preliminary testing of the developed prototype is presented.
AB - Unstructured environments are challenging for conventional robots, and modular self-reconfigurable robots (MSRs) can be deployed to overcome this challenge. The goal of the current work was to develop a flexible, cost effective multi-module robot system capable of self-reconfiguration and achieving various gaits in unstructured environments. This paper discusses the communication aspects of the Modular Robot for Exploration and Discovery (ModRED) robot system from a hardware perspective. To ensure enhanced flexibility and local autonomy as well as better reconfiguration, each robot module is built with four independent degrees of freedom, and a novel docking interface provides interconnection of modules. The prototyping effort is described with emphasis on the implementation of inter-module communication. The electronic hardware layout and control system are described, and the communication system is outlined. Finally, some preliminary testing of the developed prototype is presented.
KW - Distributed control
KW - Modular self-reconfigurable robots
KW - Radio communication
UR - http://www.scopus.com/inward/record.url?scp=84875660982&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84875660982&partnerID=8YFLogxK
U2 - 10.1007/978-1-4471-4141-9_46
DO - 10.1007/978-1-4471-4141-9_46
M3 - Conference contribution
AN - SCOPUS:84875660982
SN - 9781447141402
T3 - Advances in Reconfigurable Mechanisms and Robots I
SP - 515
EP - 523
BT - Advances in Reconfigurable Mechanisms and Robots I
Y2 - 9 July 2012 through 11 July 2012
ER -