Reconfigurable modular robots feature high mobility due to their unconstrained connection manners.Inspired by the snake multi-joint crawling principle,a chain-type reconfigurable modular robot(CRMR)is designed,which c...Reconfigurable modular robots feature high mobility due to their unconstrained connection manners.Inspired by the snake multi-joint crawling principle,a chain-type reconfigurable modular robot(CRMR)is designed,which could reassemble into various configurations through the compound joint motion.Moreover,an illumination adaptive modular robot identification(IAMRI)algorithm is proposed for CRMR.At first,an adaptive threshold is applied to detect oriented FAST features in the robot image.Then,the effective detection of features in non-uniform illumination areas is achieved through an optimized quadtree decomposition method.After matching features,an improved random sample consensus algorithm is employed to eliminate the mismatched features.Finally,the reconfigurable robot module is identified effectively through the perspective transformation.Compared with ORB,MA,Y-ORB,and S-ORB algorithms,the IAMRI algorithm has an improvement of over 11.6%in feature uniformity,and 13.7%in the comprehensive indicator,respectively.The IAMRI algorithm limits the relative error within 2.5 pixels,efficiently completing the CRMR identification under complex environmental changes.展开更多
A novel three-module robot has been introduced. It can change its configuration to adapt to the uneven terrain and to improve its tipover stability. This three-module tracked robot has three kinds of symmetry configur...A novel three-module robot has been introduced. It can change its configuration to adapt to the uneven terrain and to improve its tipover stability. This three-module tracked robot has three kinds of symmetry configuration. They are line type, triangle type, and row type. After the factors and the countermeasures of mobile robot＇s tipover problem are analyzed, stability pyramid and tipover stabil-ity index are proposed to globally determinate the mobile robot＇s static stability and dynamic stability. The shape shifting robot is tested by this technique under the combined disturbance of pitch, roll and yaw in simulation. The simulation result shows that this technique is effective for the analysis of mobile robot＇s tipover stability, especially for the reconfigurable or shape shifting modular robot. Experiments on three symmetry configurations are made under unstructured environments. The environment experiment shows the same result as that of the simulation that the triangle type configuration has the best stability. Both simulation and experiment provide a valid reference for the reconfigurable robot＇s potential application.展开更多
Normal alkane is an unbranched alkane whose structural formula is H–CH2–CH2–…–CH2–…–CH2–H,which can be regarded as a reconfigurable chain-type structure composed of–CH2–modules.Inspired by normal alkane,a n...Normal alkane is an unbranched alkane whose structural formula is H–CH2–CH2–…–CH2–…–CH2–H,which can be regarded as a reconfigurable chain-type structure composed of–CH2–modules.Inspired by normal alkane,a normal-alkane-like reconfigurable modular robot (NAR) is proposed.The module consists of two differential gear trains mounted orthogonally.Each differential gear train contains two input degrees of freedom and two output degrees of freedom.Due to the genderless interface design,multiple modules can be assembled into chain-type configuration.With the genderless interfaces and flexible degrees of freedom,NAR can be reconfigured into different dimensions of spatial configuration.The bond matrix is used to describe the configuration,which represents the bond attitude of the adjacent connected modules.In addition,full interconnected geometric feature (FIGF) algorithm is proposed for non-isomorphic configuration enumeration and judgment.The configurations with three modules are simulated and the results verify the feasibility of the algorithm.Finally,a prototype with three modules is fabricated and the configuration motion sequence is demonstrated.展开更多
Aromatic hydrocarbons generally refer to compounds containing benzene rings.Many types of isomers can be formed by replacing hydrogen atoms on the benzene ring.In this paper,an aromatic-hydrocarbon-inspired modular ro...Aromatic hydrocarbons generally refer to compounds containing benzene rings.Many types of isomers can be formed by replacing hydrogen atoms on the benzene ring.In this paper,an aromatic-hydrocarbon-inspired modular robot(AHIMR)is proposed.The robot can be reassembled into different configurations suitable for various task requirements.A vision-based docking system is designed for the AHIMR.The system primarily consists of two stages:a remote guidance stage and a precise docking stage.During the remote guidance stage,an object module is identified using an illumination adaptive target recognition algorithm,and then the active module moves to the docking area through communication with ZigBee.In the precise docking stage,the active module calculates the relative pose with the object module using a perspective-n-point method and dynamically adjusts its posture to dock.In this process,a Kalman filter is used to reduce target occlusion and jitter interference.In addition,the docking system feasibility is verified via several simulation experiments.The module docking accuracy is controlled within 0.01 m,which meets the reconfiguration task requirements of the AHIMR.In the AHIMR submodule docking experiment,the active module accurately moves to the expected position with a docking success rate of 95%.展开更多
基金supported by the National Key R&D Program of China(Grant No.2018YFB1304600)the National Natural Science Foundation of China(Grant No.62003337)+1 种基金the Open Fund for State Key Laboratory of Robotics(Grant No.2023O03)the Liaoning Province Joint Open Fund for Key Scientific and Technological Innovation Bases(Grant No.2021-KF-12-05).
文摘Reconfigurable modular robots feature high mobility due to their unconstrained connection manners.Inspired by the snake multi-joint crawling principle,a chain-type reconfigurable modular robot(CRMR)is designed,which could reassemble into various configurations through the compound joint motion.Moreover,an illumination adaptive modular robot identification(IAMRI)algorithm is proposed for CRMR.At first,an adaptive threshold is applied to detect oriented FAST features in the robot image.Then,the effective detection of features in non-uniform illumination areas is achieved through an optimized quadtree decomposition method.After matching features,an improved random sample consensus algorithm is employed to eliminate the mismatched features.Finally,the reconfigurable robot module is identified effectively through the perspective transformation.Compared with ORB,MA,Y-ORB,and S-ORB algorithms,the IAMRI algorithm has an improvement of over 11.6%in feature uniformity,and 13.7%in the comprehensive indicator,respectively.The IAMRI algorithm limits the relative error within 2.5 pixels,efficiently completing the CRMR identification under complex environmental changes.
基金This project is supported by National Hi-Tech Research and Development Program of China(863 Program, No.2001AA422360) Chinese Academy of Sciences Advanced Manufacturing Technology R&D Base Foundation, Chrna(No.F000112).
文摘A novel three-module robot has been introduced. It can change its configuration to adapt to the uneven terrain and to improve its tipover stability. This three-module tracked robot has three kinds of symmetry configuration. They are line type, triangle type, and row type. After the factors and the countermeasures of mobile robot＇s tipover problem are analyzed, stability pyramid and tipover stabil-ity index are proposed to globally determinate the mobile robot＇s static stability and dynamic stability. The shape shifting robot is tested by this technique under the combined disturbance of pitch, roll and yaw in simulation. The simulation result shows that this technique is effective for the analysis of mobile robot＇s tipover stability, especially for the reconfigurable or shape shifting modular robot. Experiments on three symmetry configurations are made under unstructured environments. The environment experiment shows the same result as that of the simulation that the triangle type configuration has the best stability. Both simulation and experiment provide a valid reference for the reconfigurable robot＇s potential application.
基金the National Key R&D Program of China(Grant No.2018YFB1304600)the National Natural Science Foundation of China(Grant No.51775541)+2 种基金CAS Interdisciplinary Innovation Team(Grant No.JCTD-2018-11)the State Key Laboratory of Robotics Foundation(Grant No.Y91Z0303)the Liaoning Provincial Natural Science Foundation(Grant No.2020-MS-033)。
文摘Normal alkane is an unbranched alkane whose structural formula is H–CH2–CH2–…–CH2–…–CH2–H,which can be regarded as a reconfigurable chain-type structure composed of–CH2–modules.Inspired by normal alkane,a normal-alkane-like reconfigurable modular robot (NAR) is proposed.The module consists of two differential gear trains mounted orthogonally.Each differential gear train contains two input degrees of freedom and two output degrees of freedom.Due to the genderless interface design,multiple modules can be assembled into chain-type configuration.With the genderless interfaces and flexible degrees of freedom,NAR can be reconfigured into different dimensions of spatial configuration.The bond matrix is used to describe the configuration,which represents the bond attitude of the adjacent connected modules.In addition,full interconnected geometric feature (FIGF) algorithm is proposed for non-isomorphic configuration enumeration and judgment.The configurations with three modules are simulated and the results verify the feasibility of the algorithm.Finally,a prototype with three modules is fabricated and the configuration motion sequence is demonstrated.
基金supported by the National Key R&D Program of China(Grant No.2018YFB1304600)the CAS Interdisciplinary Innovation Team(Grant No.JCTD-2018-11)the National Natural Science Foundation of China(Grant No.51775541)。
文摘Aromatic hydrocarbons generally refer to compounds containing benzene rings.Many types of isomers can be formed by replacing hydrogen atoms on the benzene ring.In this paper,an aromatic-hydrocarbon-inspired modular robot(AHIMR)is proposed.The robot can be reassembled into different configurations suitable for various task requirements.A vision-based docking system is designed for the AHIMR.The system primarily consists of two stages:a remote guidance stage and a precise docking stage.During the remote guidance stage,an object module is identified using an illumination adaptive target recognition algorithm,and then the active module moves to the docking area through communication with ZigBee.In the precise docking stage,the active module calculates the relative pose with the object module using a perspective-n-point method and dynamically adjusts its posture to dock.In this process,a Kalman filter is used to reduce target occlusion and jitter interference.In addition,the docking system feasibility is verified via several simulation experiments.The module docking accuracy is controlled within 0.01 m,which meets the reconfiguration task requirements of the AHIMR.In the AHIMR submodule docking experiment,the active module accurately moves to the expected position with a docking success rate of 95%.
