Nested Reconfigurable Robots: Theory, Design, and Realization

File Description SizeFormat 
60507.pdfPublished version1.96 MBAdobe PDFView/Open
Title: Nested Reconfigurable Robots: Theory, Design, and Realization
Authors: Tan, N
Rojas, N
Elara Mohan, R
Kee, V
Sosa, R
Item Type: Journal Article
Abstract: Rather than the conventional classification method, we propose to divide modular and reconfigurable robots into intra-, inter-, and nested reconfigurations. We suggest designing the robot with nested reconfigurability, which utilizes individual robots with intra-reconfigurability capable of combining with other homogeneous/heterogeneous robots (inter-reconfigurability). The objective of this approach is to generate more complex morphologies for performing specific tasks that are far from the capabilities of a single module or to respond to programmable assembly requirements. In this paper, we discuss the theory, concept, and initial mechanical design of Hinged-Tetro, a self-reconfigurable module conceived for the study of nested reconfiguration. Hinged-Tetro is a mobile robot that uses the principle of hinged dissection of polyominoes to transform itself into any of the seven one-sided tetrominoes in a straightforward way. The robot can also combine with other modules for shaping complex structures or giving rise to a robot with new capabilities. Finally, the validation experiments verify the nested reconfigurability of Hinged-Tetro. Extensive tests and analyses of intra-reconfiguration are provided in terms of energy and time consumptions. Experiments using two robots validate the inter-reconfigur ability of the proposed module.
Issue Date: 14-Jul-2015
Date of Acceptance: 9-Feb-2015
URI: http://hdl.handle.net/10044/1/44740
DOI: http://dx.doi.org/10.5772/60507
ISSN: 1729-8814
Publisher: SAGE Publications
Journal / Book Title: International Journal of Advanced Robotic Systems
Volume: 12
Issue: 7
Copyright Statement: © 2015 Author(s). Licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Keywords: 08 Information And Computing Sciences
09 Engineering
17 Psychology And Cognitive Sciences
Open Access location: http://journals.sagepub.com/doi/pdf/10.5772/60507
Article Number: 110
Appears in Collections:Dyson School of Design Engineering



Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

Creative Commonsx