000150468 001__ 150468
000150468 005__ 20190117220115.0
000150468 0247_ $$2doi$$a10.5075/epfl-thesis-4803
000150468 02470 $$2urn$$aurn:nbn:ch:bel-epfl-thesis4803-1
000150468 02471 $$2nebis$$a6125597
000150468 037__ $$aTHESIS
000150468 041__ $$aeng
000150468 088__ $$a4803
000150468 245__ $$aRoombots: Design and Implementation of a Modular Robot for Reconfiguration and Locomotion
000150468 269__ $$a2010
000150468 260__ $$aLausanne$$bEPFL$$c2010
000150468 300__ $$a187
000150468 336__ $$aTheses
000150468 520__ $$aIn this thesis we present the design and implementation of a novel self-reconfiguring modular (SR-MR) robotic system: Roombots. We are aiming at three main applications with Roombots; locomotion through self-reconfiguration in the regular cubic 3D-lattice on structured surfaces, locomotion in non-structured environments applying central pattern generators (CPG) as the locomotion controller, and self-assembly and reconfiguration of static objects of the day-to-day environment, such as furniture. Robot assemblies from self-reconfigurable modular robots have the ability to adapt to a given task and working environment by altering their shape through a series of reconfiguration moves, and attachments and detachments between the modules. We are interested in self-reconfiguring modular robots for their shape-changing capabilities, and their distributed characteristics. We envision the following applications for Roombots: First, self-reconfiguration in a structured 3D lattice, i.e. a floor and walls equipped with connectors. Embedded connectors can provide pivot points for locomotion of SR-MR assemblies, and docking and recharging places for our adaptive furniture pieces. Second, our proposed concept for locomotion control of modular robots on non-structured ground are central pattern generators. Third, we would like to build adaptive and versatile furniture from modular robots and light-weight elements. In the following we are able to count more than 60 modular robotic systems, developed over the last two decades. However we were unable to identify an existing system which could provide us with all desired kinematic and geometric capabilities. This led us to design and implement a novel self-reconfiguring modular robotic system: Roombots. To tackle the module design we attempt to identify both meaningful design parameters from existing modular robots, and essential features for our applications. The combination of both leads to the kinematic and geometric description of the Roombots modules, and eventually to its implementation. In order to be able to assemble furniture from our Roombots units in the future, we need a reconfiguration framework which supports the specific requirements of Roombots. Metamodules made of two units attached in-series are attracted and guided by a virtual force-field, they use broadcast signals, look-up tables of collision clouds and simple assumptions about their near environment to reach their seeding positions, which are currently hand coded. For the task of locomotion in non-structured environments we propose a framework for learning to move with modular robots using central pattern generators and online optimization. The distributed implementation of CPGs offers an ideal substrate for producing locomotion patterns and for online learning, and an optimization framework for fast learning.
000150468 6531_ $$aself-reconfiguring modular robots
000150468 6531_ $$acentral pattern generators
000150468 6531_ $$aactive connection mechanism
000150468 6531_ $$alocomotion through reconfiguration
000150468 6531_ $$aadaptive robotic furniture
000150468 6531_ $$aonline optimization
000150468 700__ $$0240378$$aSpröwitz, Alexander$$g173229
000150468 720_2 $$0241344$$aIjspeert, Auke Jan$$edir.$$g115955
000150468 8564_ $$s53768815$$uhttps://infoscience.epfl.ch/record/150468/files/EPFL_TH4803.pdf$$yTexte intégral / Full text$$zTexte intégral / Full text
000150468 909C0 $$0252049$$pBIOROB$$xU12165
000150468 909CO $$ooai:infoscience.tind.io:150468$$pthesis-bn2018$$pDOI$$pSTI$$pthesis$$qDOI2
000150468 918__ $$aSTI$$cIBI-STI$$dEDPR
000150468 919__ $$aBIOROB
000150468 920__ $$b2010
000150468 970__ $$a4803/THESES
000150468 973__ $$aEPFL$$sPUBLISHED
000150468 980__ $$aTHESIS