Hardware design and testing of ModRED: A modular self-reconfigurable robot system

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

16 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationAdvances in Reconfigurable Mechanisms and Robots I
Pages515-523
Number of pages9
DOIs
StatePublished - Dec 1 2012
Event2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2012 - Tianjin, China
Duration: Jul 9 2012Jul 11 2012

Publication series

NameAdvances in Reconfigurable Mechanisms and Robots I

Conference

Conference2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2012
CountryChina
CityTianjin
Period7/9/127/11/12

Keywords

  • Distributed control
  • Modular self-reconfigurable robots
  • Radio communication

ASJC Scopus subject areas

  • Computational Theory and Mathematics
  • Computer Vision and Pattern Recognition
  • Software

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  • Cite this

    Hossain, S. G. M., Nelson, C. A., & Dasgupta, P. (2012). Hardware design and testing of ModRED: A modular self-reconfigurable robot system. In Advances in Reconfigurable Mechanisms and Robots I (pp. 515-523). (Advances in Reconfigurable Mechanisms and Robots I). https://doi.org/10.1007/978-1-4471-4141-9_46