ModRED: Hardware design and reconfiguration planning for a high dexterity modular self-reconfigurable robot for extra-terrestrial exploration

José Baca, S. G.M. Hossain, Prithviraj Dasgupta, Carl A. Nelson, Ayan Dutta

Research output: Contribution to journalArticle

35 Scopus citations

Abstract

This paper presents a homogeneous modular robot system design based on four per-module degrees of freedom (DOF), including a prismatic DOF to increase the versatility of its reconfiguration and locomotion capabilities. The ModRED (Modular Robot for Exploration and Discovery) modules are developed with rotary-plate genderless single sided docking mechanisms (RoGenSiD) that allow chain-type configurations and lead towards hybrid-type configurations. Various locomotion gaits are simulated through the Webots robot simulator and implemented in the real ModRED system. This work also addresses the problem of dynamic reconfiguration in a modular self-reconfigurable robot (MSR). The self-reconfiguration problem is modeled as an instance of the graph-based coalition formation problem. We formulate the problem as a linear program that finds the "best" partition or coalition structure among a set of ModRED modules. The technique is verified experimentally for a variety of settings on an accurately simulated model of the ModRED robot within the Webots robot simulator. Our experimental results show that our technique can find the best partition with a reasonably low computational overhead.

Original languageEnglish (US)
Pages (from-to)1002-1015
Number of pages14
JournalRobotics and Autonomous Systems
Volume62
Issue number7
DOIs
StatePublished - Jul 2014

Keywords

  • Homogeneous
  • Modular robots
  • Self-reconfiguration planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

Fingerprint Dive into the research topics of 'ModRED: Hardware design and reconfiguration planning for a high dexterity modular self-reconfigurable robot for extra-terrestrial exploration'. Together they form a unique fingerprint.

  • Cite this