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The Conro modules for reconfigurable robots

A. Castano, A. Behar, P.M. Will
2002 IEEE/ASME transactions on mechatronics  
Each Conro module is, itself, a robot and hence a Conro robot is actually a multirobot system.  ...  The goal of the Conro Project is to build deployable modular robots that can reconfigure into different shapes such as snakes or hexapods.  ...  Kovac, and B. Khoshnevis for their contributions to the development of the module.  ... 
doi:10.1109/tmech.2002.806233 fatcat:27a7x5on7radjnzkgdnz7he33m

Docking among independent and autonomous CONRO self-reconfigurable robots

M. Rubenstein, K. Payne, P. Will, Wei-Min Shen
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
We have developed methods for overcome these challenging problems and accomplished for the first time an actual docking between two independent CONRO robots each with multiple modules.  ...  The challenges for this task include (1) coordinate and align two independent self-reconfigurable robots using the docking guidance system available only at the connectors of the docking modules; (2) overcome  ...  We also want to thank other members in the Polymorphic Robotics Laboratory for their generous intellectual support and discussions.  ... 
doi:10.1109/robot.2004.1307497 dblp:conf/icra/RubensteinPWS04 fatcat:uupvxkhwgfcwrjeajxeosvckta

Hormone-inspired adaptive communication and distributed control for CONRO self-reconfigurable robots

Wei-Min Shen, B. Salemi, P. Will
2002 IEEE Transactions on Robotics and Automation  
The paper also discusses the implication of the hormone-inspired approach for distributed multiple robots and self-reconfigurable systems in general.  ...  These protocols are implemented and evaluated, and experiments in the CONRO self-reconfigurable robot and in a Newtonian simulation environment have shown that the protocols are robust and scaleable when  ...  ACKNOWLEDGMENT We thank Andres Castano, Robert Kovac, Ramesh Chokkalingam, Sunan Tugsinavisut, for building the CONRO modules, Yumin Lu for developing the initial user interface and module communication  ... 
doi:10.1109/tra.2002.804502 fatcat:xd3oiug5prekhnzihcjxgpln4y

Self-Reconfiguring Robots in the USA

Robert Fitch, Daniela Rus
2003 Journal of the Robotics Society of Japan  
Examples of manually configured shapes are the snake and the hexapod, and the current CONRO system is designed for self-reconfiguration. 2.3 Manually Reconfigurable Robots Manually reconfigurable  ...  The definition of DRRS parallels our current conception of self-reconfiguring robots -the system is made up of robotic modules (cells) which can attach and detach from each other autonomously to optimize  ... 
doi:10.7210/jrsj.21.832 fatcat:nh6yttaevbfivhca56m46wwg4a

Modular and reconfigurable mobile robotics

Paul Moubarak, Pinhas Ben-Tzvi
2012 Robotics and Autonomous Systems  
This paper reviews the primary methods in the literature related to the fields of modular and reconfigurable mobile robotics.  ...  a starting ground for innovation and integration of such technology in the urban environment.  ...  Unlike CONRO and PolyBot that are capable of self-reconfiguration, the process of reshaping the morphology of these modular robots is not autonomous, rather accomplished by an operator.  ... 
doi:10.1016/j.robot.2012.09.002 fatcat:vohwjoftv5d6djw56zjg4ylh6q

Comprehensive Survey of Evolutionary Morphological Soft Robotic Systems [article]

Reem J. Alattas, Sarosh Patel, Tarek M. Sobh
2017 arXiv   pre-print
This paper reviews the literature and discusses various aspects of evolutionary robotics including the application on morphological soft robots to allow self assembly, self reconfiguration, self repair  ...  Soft robotics have demonstrated the feasibility of evolutionary robotics for the synthesis of robots control and morphology.  ...  For many applications, a fixed set of configurations is sufficient. In this case, reconfigurations can be pre-planned off-line and stored in a table for ease of reconfiguration [16] .  ... 
arXiv:1702.02934v5 fatcat:6kfowwun55borprcdasfcidpdy

Guest Editorial Introduction to the Focused Section on Mechatronics in Multirobot Systems

Mo-Yuen Chow, Stefano Chiaverini, Christopher Kitts
2009 IEEE/ASME transactions on mechatronics  
algorithms for self-reconfiguring robots.  ...  Role-based control is used to implement a sidewinder and a caterpillar gait in the Conro self-reconfigurable robot (see [12] ).  ...  , and mobile robotic systems.  ... 
doi:10.1109/tmech.2009.2014462 fatcat:pydq2qjr3bhutb7dyrimebknoq

Hardware Architecture Review of Swarm Robotics System: Self-Reconfigurability, Self-Reassembly, and Self-Replication

Madhav Patil, Tamer Abukhalil, Tarek Sobh
2013 ISRN Robotics  
Swarm robotics is one of the most fascinating and new research areas of recent decades, and one of the grand challenges of robotics is the design of swarm robots that are self-sufficient.  ...  In robotics intelligence, self-assembly and self-reconfigurability are among the most important characteristics as they can add additional capabilities and functionality to swarm robots.  ...  Conflict of interests The authors declare no conflicts of interest and have no direct financial relation with the commercial identity mentioned in the paper.  ... 
doi:10.5402/2013/849606 fatcat:qrhn2qyyybdu3m6473cpisxewe

Reconfigurable swarm robots for structural health monitoring: a brief review

Mohammad R. Jahanshahi, Wei-Men Shen, Tarutal Ghosh Mondal, Mohamed Abdelbarr, Sami F. Masri, Uvais A. Qidwai
2017 International Journal of Intelligent Robotics and Applications  
Recent advancements in robotic systems have led to the development of reconfigurable swarm robots (RSR) that can change their shape and functionality dynamically, without any external intervention.  ...  Newly-developed reconfigurable robots are expected to bring a radical change in the prevailing structural health monitoring techniques, thus augmenting the efficiency, accuracy and affordability of inspection  ...  The CONRO module proposed by one of the authors is said to be one of the first modules for reconfigurable robots that are self-contained and autonomous.  ... 
doi:10.1007/s41315-017-0024-8 dblp:journals/ijira/JahanshahiSMAMQ17 fatcat:66oqqtfub5bwrmbgurtt2feolm

Evolutionary Modular Robotics: Survey and Analysis

Reem J. Alattas, Sarosh Patel, Tarek M. Sobh
2018 Journal of Intelligent and Robotic Systems  
Furthermore, evolutionary algorithms were studied to generate global modular robotic behaviors including; self-assembly, self-reconfiguration, self-repair, and self-reproduction.  ...  A number of studies have demonstrated the feasibility of evolutionary algorithms for generating robotic control and morphology. However, a huge challenge faced was how to manufacture these robots.  ...  For many applications, a fixed set of configurations is sufficient. In this case, reconfigurations can be pre-planned off-line and stored in a table for ease of reconfiguration [16] .  ... 
doi:10.1007/s10846-018-0902-9 fatcat:q6loxcv3evdozdn4upbuqlnfwy

Distributed and Cellular Robots [chapter]

Zack Butler, Alfred Rizzi
2008 Springer Handbook of Robotics  
Self-Reconfigurable Robot Locomotion Self-reconfigurable robots are a potentially very powerful type of system in which the modules move themselves with respect to each other to autonomously attain different  ...  This process of self-repair may be possible to execute in an autonomous fashion, as has been proposed for some self-reconfigurable systems [39.26, 36] .  ... 
doi:10.1007/978-3-540-30301-5_40 fatcat:ecflhf45abeolnwpxq6irn3qbm

Self-Assembly at the Macroscopic Scale

R. Gross, M. Dorigo
2008 Proceedings of the IEEE  
We present a taxonomy of the systems and discuss design principles and functions. Finally, we summarize the main achievements and indicate potential directions for future research.  ...  An impressive variety of systems have been designed with capabilities such as forming, growing, reconfiguring, repairing and replicating themselves, based on information coded in their components.  ...  [97] demonstrated the ability of two separate CONRO robots to self-assemble. Each robot consisted of a chain of two linearly linked CONRO modules.  ... 
doi:10.1109/jproc.2008.927352 fatcat:degvxseuynb6pnp2lqws6fpu5a

Multimode locomotion via SuperBot reconfigurable robots

Wei-Min Shen, Maks Krivokon, Harris Chiu, Jacob Everist, Michael Rubenstein, Jagadesh Venkatesh
2006 Autonomous Robots  
This solution relies on robots that are made of reconfigurable modules.  ...  This paper proposes a modular and reconfigurable solution for this challenge by allowing a robot to support multiple modes of locomotion and select the appropriate mode for the task at hand.  ...  members in the Polymorphic Robotics Laboratory for their intellectual and moral support.  ... 
doi:10.1007/s10514-006-6475-7 fatcat:jvrdhzvfkbh3rnnecyixdkdp7i

Toward Growing Robots: A Historical Evolution from Cellular to Plant-Inspired Robotics

Emanuela Del Dottore, Ali Sadeghi, Alessio Mondini, Virgilio Mattoli, Barbara Mazzolai
2018 Frontiers in Robotics and AI  
Different approaches have been proposed over the years for solving the morphological adaptation of artificial systems, e.g., self-assembly, self-reconfigurability, evolution of virtual creatures, plant  ...  The creation of systems that adapt reliably and effectively to the environment with their morphology and control would be beneficial for many different applications, including terrestrial and space exploration  ...  2005-random parts Floating table 30 modules 5 × 5 × 1.5 SA; SR McE OB Replication PoC Structure white et al., 2004-stochastic self-reconfigurable robots 2D-Figure 2A Toward Growing Robots  ... 
doi:10.3389/frobt.2018.00016 pmid:33500903 pmcid:PMC7805952 fatcat:z3rgz2sw5nflfg4ot5wep7hgma

Autonomous Self-Assembly in Swarm-Bots

Roderich Gro, Michael Bonani, Francesco Mondada, Marco Dorigo
2006 IEEE Transactions on robotics  
In this paper, we discuss the self-assembling capabilities of the swarm-bot, a distributed robotics concept that lies at the intersection between collective and self-reconfigurable robotics.  ...  A swarm-bot is comprised of autonomous mobile robots called s-bots. S-bots can either act independently or self-assemble into a swarm-bot by using their grippers.  ...  [10] demonstrated the ability of two CONRO robots to self-assemble. Each robot consisted of a chain of two linearly linked CONRO modules.  ... 
doi:10.1109/tro.2006.882919 fatcat:h3fj4ygjybe2rcnlvjrai2r36u
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