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Nested reconfigurable robots: theory, design, and realization

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posted on 2023-06-09, 00:28 authored by Ning Tan, Nicolas Rojas, Rajesh Elara Mohan, Vincent Kee, Ricardo Sosa
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-reconfigurability of the proposed module.

History

Publication status

  • Published

File Version

  • Published version

Journal

International Journal of Advanced Robotic Systems

ISSN

1729-8806

Publisher

InTech

Issue

7

Volume

12

Department affiliated with

  • Engineering and Design Publications

Full text available

  • Yes

Peer reviewed?

  • Yes

Legacy Posted Date

2016-03-07

First Open Access (FOA) Date

2016-03-07

First Compliant Deposit (FCD) Date

2016-03-07

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