Self-assembling mobile linkages

Self-reconfiguring robots are modular robot systems that are physically connected and capable of making different geometric structures. Most current research in this field is focused on homogeneous systems in which all the modules are identical. This article explores the concept of self-assembling robot systems consisting of passive structural modules plus active robotic modules.

[1]  Robert L. Williams,et al.  CARTESIAN CONTROL OF VGT MANIPULATORS APPLIED TO DOE HARDWARE , 1998 .

[2]  Gregory S. Chirikjian,et al.  Useful metrics for modular robot motion planning , 1997, IEEE Trans. Robotics Autom..

[3]  Wei-Min Shen,et al.  A system for in-space assembly , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[4]  Yangsheng Xu,et al.  Human-robot cooperation in space: SM2 for new space station structure , 1995, IEEE Robotics Autom. Mag..

[5]  Gregory S. Chirikjian,et al.  A hyper-redundant manipulator , 1994, IEEE Robotics Autom. Mag..

[6]  Gregory S. Chirikjian,et al.  Self-replicating robots for lunar development , 2002 .

[7]  Roque J. Saltarén,et al.  Motion planning of a climbing parallel robot , 2003, IEEE Trans. Robotics Autom..

[8]  Sergei Vassilvitskii,et al.  On the general reconfiguration problem for expanding cube style modular robots , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[9]  Gregory S. Chirikjian,et al.  A new inverse kinematics algorithm for binary manipulators with many actuators , 2000 .

[10]  Yeoreum Yoon.  Modular robots for making and climbing 3-D trusses , 2006 .

[11]  Ieee Robotics,et al.  IEEE robotics & automation magazine , 1994 .

[12]  Arthur C. Sanderson,et al.  TETROBOT: a modular approach to parallel robotics , 1997, IEEE Robotics Autom. Mag..

[13]  Daniela Rus,et al.  Self-reconfiguring robots: designs, algorithms, and applications , 2004 .

[14]  S. Buss.  Introduction to Inverse Kinematics with Jacobian Transpose , Pseudoinverse and Damped Least Squares methods , 2004 .

[15]  W. Doggett,et al.  Robotic assembly of truss structures for space systems and future research plans , 2002, Proceedings, IEEE Aerospace Conference.

[16]  Gregory S. Chirikjian,et al.  The kinematics of hyper-redundant robot locomotion , 1995, IEEE Trans. Robotics Autom..

[17]  Henrik Hautop Lund,et al.  ATRON Hardware Modules for Self-reconfigurable Robotics , 2005 .

[18]  Daniela Rus,et al.  Navigating 3D steel web structures with an inchworm robot , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

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

[20]  Marsette Vona,et al.  Hierarchical control for self-assembling mobile trusses with passive and active links , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[21]  Koichi Osuka,et al.  Development of vertically moving robot with gripping handrails for fire fighting , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[22]  Tanio K. Tanev,et al.  Kinematics of a hybrid (parallel-serial) robot manipulator , 2000 .

[23]  Mark H. Yim,et al.  Evolution of PolyBot: A Modular Reconfigurable Robot , 2002 .

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

[25]  Zahurin Samad,et al.  Development of a low-cost modular pole climbing robot , 2000, 2000 TENCON Proceedings. Intelligent Systems and Technologies for the New Millennium (Cat. No.00CH37119).

[26]  Marsette Vona,et al.  Shady: Robust Truss Climbing with Mechanical Compliances , 2006, ISER.

[27]  Ian Gibson,et al.  Trigon Robotic Pairs , 2006 .

[28]  Eiichi Yoshida,et al.  A 3-D self-reconfigurable structure , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[29]  Craig D. McGray,et al.  The self-reconfiguring robotic molecule , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[30]  Howie Choset,et al.  A mobile hyper redundant mechanism for search and rescue tasks , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[31]  William Whittaker,et al.  Skyworker: a robot for assembly, inspection and maintenance of large scale orbital facilities , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[32]  Gregory S. Chirikjian,et al.  A useful metric for modular robot motion planning , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[33]  Howie Choset,et al.  Dynamic Ambiguities in Frictional Rigid-body Systems with Application to Climbing via Bracing , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

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

[35]  Daniela Rus,et al.  Shady3D: A Robot that Climbs 3D Trusses , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[36]  Leonidas J. Guibas.  Controlled Module Density Helps Reconfiguration Planning , 2000 .