Modular robot task functionality driven by hybrid automata

Kazi Mashfique Hossain, Carl A. Nelson, Prithviraj Dasgupta, José Baca

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

1 Scopus citations

Abstract

Reconfigurability, self-reproduction and self-healing are unique behaviors found in the field of modular robotics. These tasks require docking or coupling and reorganizing of modules to form different configurations according to the task requirements. For successful task achievement, efficient information sharing between the modules, better perception of configuration and well-structured motion sequence or docking are very important. In a scenario where sharing resources between different configurations is a priority, it is crucial to have a well-defined, energy-efficient, task-specific and effective strategy of operation. This paper presents a method to (1) discover the topology of a given structure by a master module in a recursive manner, (2) share the information with another master module to compare the utility of current or future configurations and (3) make a successful docking attachment. These all use automata theory to minimize calculation overhead. The first two methods were tested in simulation for an arbitrary ModRED II (Modular Robot for Exploration and Discovery) configuration with nine modules that uses serial communication between modules, and the third was validated in hardware.

Original languageEnglish (US)
Title of host publicationMESA 2016 - 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781509061907
DOIs
StatePublished - Oct 7 2016
Event12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2016 - Auckland, New Zealand
Duration: Aug 29 2016Aug 31 2016

Publication series

NameMESA 2016 - 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Conference Proceedings

Other

Other12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2016
CountryNew Zealand
CityAuckland
Period8/29/168/31/16

Keywords

  • Automata
  • Configuration Detection
  • Modular Robots
  • Task Adaptation

ASJC Scopus subject areas

  • Biomedical Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering
  • Control and Optimization

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    Hossain, K. M., Nelson, C. A., Dasgupta, P., & Baca, J. (2016). Modular robot task functionality driven by hybrid automata. In MESA 2016 - 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Conference Proceedings [7587174] (MESA 2016 - 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Conference Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MESA.2016.7587174