TELEMANIPULACIÓN Y LOCOMOCIÓN MEDIANTE ROBOTS MODULARES RECONFIGURABLES EN ENTORNOS SEMIESTRUCTURADOS

This paper is focused on the application of modular robots in semi-structured environments. Manipulation and displacement capabilities are the main advantages of this self-configurable system. Control architecture for modular systems has been specifically designed. Modules are ensemble in order to become more complex mechanisms, called molecules. Molecules work in a similar manner as a common robot and can change their configuration according to task requirements. This system, called RobMAT, includes an advanced interface for teleoperation. It allows guiding modules and molecules, and also calibrating remote environments. Experiments have highlighted the relevance of module synchronization and trajectory control. Synchronization is a critical point for module cooperation, whereas specific trajectory control is required for improving guidance performance

[1]  Henrik Hautop Lund,et al.  Modular ATRON: modules for a self-reconfigurable robot , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[2]  Christiaan J. J. Paredis,et al.  Millibots: The Development of a Framework and Algorithms for a Distributed Heterogeneous Robot Team , 2002 .

[3]  Rafael Aracil,et al.  Real time video image processing for teleoperation: image blending and stereoscopy , 2003, EFTA 2003. 2003 IEEE Conference on Emerging Technologies and Factory Automation. Proceedings (Cat. No.03TH8696).

[4]  Toshio Fukuda,et al.  Cellular robotic system (CEBOT) as one of the realization of self-organizing intelligent universal manipulator , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[5]  Pradeep K. Khosla,et al.  A Modular Self-Reconfigurable Bipartite Robotic System: Implementation and Motion Planning , 2001, Auton. Robots.

[6]  Paul S. Schenker,et al.  Networked robotics , 2000, SPIE Optics East.

[7]  Hod Lipson,et al.  Three Dimensional Stochastic Reconfiguration of Modular Robots , 2005, Robotics: Science and Systems.

[8]  Marsette Vona,et al.  Crystalline Robots: Self-Reconfiguration with Compressible Unit Modules , 2001, Auton. Robots.

[9]  Manuel Ferre,et al.  Stereoscopic video images for telerobotic applications , 2005 .

[10]  Eiichi Yoshida,et al.  M-TRAN: self-reconfigurable modular robotic system , 2002 .

[11]  Mark Yim,et al.  Walk on the wild side [modular robot motion] , 2002, IEEE Robotics Autom. Mag..

[12]  Gregory S. Chirikjian,et al.  Design And Implementation Of Metamorphic Robots , 1996 .

[13]  A. Castano,et al.  The Conro modules for reconfigurable robots , 2002 .

[14]  Craig D. McGray,et al.  The self-reconfiguring robotic molecule: design and control algorithms , 1998 .

[15]  Marco Dorigo,et al.  Autonomous Self-Assembly in Swarm-Bots , 2006, IEEE Transactions on Robotics.

[16]  Wei-Min Shen,et al.  Multimode locomotion via SuperBot reconfigurable robots , 2006, Auton. Robots.

[17]  Eiichi Yoshida,et al.  Self-assembly and self-repair method for a distributed mechanical system , 1999, IEEE Trans. Robotics Autom..

[18]  Kai Hwang,et al.  Load balancing methods for message-passing multicomputers , 1990 .

[19]  Eiichi Yoshida,et al.  Self-reconfigurable modular robot (M-TRAN) and its motion design , 2002, 7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002..

[20]  Roque Saltaren,et al.  BASE MOLECULE DESIGN AND SIMULATION OF MODULAR ROBOT ROBMAT , 2005 .