Self-assembling mobile linkages

Carrick Detweiler; Marsette Vona; Yeoreum Yoon; Seung Kook Yun; Daniela Rus

doi:10.1109/M-RA.2007.908971

Self-assembling mobile linkages

Carrick Detweiler, Marsette Vona, Yeoreum Yoon, Seung Kook Yun, Daniela Rus

Research output: Contribution to journal › Article › peer-review

35 Scopus citations

Abstract

The concept of self-assembling robot systems consisting of passive structural modules plus active robotic modules have been explored. A proof of concept implementation have been described where the active module type is a 2- or 3-degrees of freedom (DoF) linear structure with grippers at both ends and the passive modules are rigid bars. A variety of linkage structures can be self-assembled from these two basic module types in simulation. These structures include self-reconfiguring, hyperredundant, variable-geometry truss and truss climbing robots. An example of a physical structure that can be self-assembled: a 3-DoF manipulator made of two robot modules and one passive bar is also presented.

Original language	English (US)
Pages (from-to)	45-55
Number of pages	11
Journal	IEEE Robotics and Automation Magazine
Volume	14
Issue number	4
DOIs	https://doi.org/10.1109/M-RA.2007.908971
State	Published - Dec 2007
Externally published	Yes

Keywords

Climbing robot
Grasping
Self-assembly

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/M-RA.2007.908971

Cite this

@article{935f2217ad454fe696edccaa44dd6193,

title = "Self-assembling mobile linkages",

abstract = "The concept of self-assembling robot systems consisting of passive structural modules plus active robotic modules have been explored. A proof of concept implementation have been described where the active module type is a 2- or 3-degrees of freedom (DoF) linear structure with grippers at both ends and the passive modules are rigid bars. A variety of linkage structures can be self-assembled from these two basic module types in simulation. These structures include self-reconfiguring, hyperredundant, variable-geometry truss and truss climbing robots. An example of a physical structure that can be self-assembled: a 3-DoF manipulator made of two robot modules and one passive bar is also presented.",

keywords = "Climbing robot, Grasping, Self-assembly",

author = "Carrick Detweiler and Marsette Vona and Yeoreum Yoon and Yun, {Seung Kook} and Daniela Rus",

note = "Funding Information: This research was done in the Distributed Robotics Laboratory at Computer Science and Artificial Intelligence Laboratory (CSAIL) Massachusetts Institute of Technology (MIT). Support for this work has been provided in part by Intel, NSF IIS-0426838, and MURI ARO W911NF-0510219. We are very grateful for this support. We are also grateful to the members of DRL for insightful discussions and feedback.",

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doi = "10.1109/M-RA.2007.908971",

language = "English (US)",

volume = "14",

pages = "45--55",

journal = "IEEE Robotics and Automation Magazine",

issn = "1070-9932",

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AU - Vona, Marsette

AU - Yoon, Yeoreum

AU - Yun, Seung Kook

AU - Rus, Daniela

N1 - Funding Information: This research was done in the Distributed Robotics Laboratory at Computer Science and Artificial Intelligence Laboratory (CSAIL) Massachusetts Institute of Technology (MIT). Support for this work has been provided in part by Intel, NSF IIS-0426838, and MURI ARO W911NF-0510219. We are very grateful for this support. We are also grateful to the members of DRL for insightful discussions and feedback.

PY - 2007/12

Y1 - 2007/12

N2 - The concept of self-assembling robot systems consisting of passive structural modules plus active robotic modules have been explored. A proof of concept implementation have been described where the active module type is a 2- or 3-degrees of freedom (DoF) linear structure with grippers at both ends and the passive modules are rigid bars. A variety of linkage structures can be self-assembled from these two basic module types in simulation. These structures include self-reconfiguring, hyperredundant, variable-geometry truss and truss climbing robots. An example of a physical structure that can be self-assembled: a 3-DoF manipulator made of two robot modules and one passive bar is also presented.

AB - The concept of self-assembling robot systems consisting of passive structural modules plus active robotic modules have been explored. A proof of concept implementation have been described where the active module type is a 2- or 3-degrees of freedom (DoF) linear structure with grippers at both ends and the passive modules are rigid bars. A variety of linkage structures can be self-assembled from these two basic module types in simulation. These structures include self-reconfiguring, hyperredundant, variable-geometry truss and truss climbing robots. An example of a physical structure that can be self-assembled: a 3-DoF manipulator made of two robot modules and one passive bar is also presented.

KW - Climbing robot

KW - Grasping

KW - Self-assembly

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Self-assembling mobile linkages

Abstract

Keywords

ASJC Scopus subject areas

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