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Micro Self-reconfigurable Robotic System using Shape Memory Alloy [chapter]

Eiichi Yoshida, Satoshi Murata, Shigeru Kokaji, Kohji Tomita, Haruhisa Kurokawa
2000 Distributed Autonomous Robotic Systems 4  
This paper presents micro self-reconfigurable modular robotic systems using shape memory alloy (SMA).  ...  The system is designed so that various shapes can be autonomously formed by a group of identical mechanical units.  ...  Conclusions This paper presented micro self-reconfigurable robotic systems using an SMA actuator mechanism.  ... 
doi:10.1007/978-4-431-67919-6_14 fatcat:ulmtcudy5fenfipt4zm7orlwji

Micro Self-reconfigurable Modular Robot Using Shape Memory Alloy

Eiichi Yoshida, Satoshi Murata, Shigeru Kokaji, Kohji Tomita, Haruhisa Kurokawa
2001 Journal of Robotics and Mechatronics  
This paper presents a micro self-reconfigurable modular robotic system using shape memory alloy (SMA) actuators.  ...  The micro-module measures 2cm cube and weighs 15g, half the size of the previous model. The feasibility of reconfiguration was demonstrated using micro-robotic modules.  ...  We have so far developed a miniature self-reconfigurable modular robot using shape memory alloy (SMA) actuator 16) .  ... 
doi:10.20965/jrm.2001.p0212 fatcat:y5ztjr6mj5e7vpn6xklnpiehei

Get back in shape! [SMA self-reconfigurable microrobots]

E. Yoshida, S. Murata, S. Kokaji, A. Kamimura, K. Tomita, H. Kurokawa
2002 IEEE robotics & automation magazine  
Keywords Self-reconfigurable robot, microrobot, modular robot, SMA actuator.  ...  To develop a modular microrobot that can actively reconfigure itself, we adopt an actuating mechanism driven by a shape memory alloy (SMA).  ...  To develop a modular microrobot that can actively reconfigure itself, we adopt an actuating mechanism driven by an SMA. Figure 1 . 1 Applications of a micro self-reconfigurable robotic system.  ... 
doi:10.1109/mra.2002.1160072 fatcat:5iiedsh5jreofamcdh6bf4tc7y

Introductory Chapter: Assorted Dimensional Reconfigurable Materials [chapter]

Rajendra Sukhjadeorao Dongre, Dilip R. Peshwe
2020 Assorted Dimensional Reconfigurable Materials  
Modern matrixes in development of S&T New matrixes owing manipulated modern functionalities yield through reconfigurations offer progressive applications in S&T.  ...  Modern science and nano-technology assisted diverse reconfigurations in material skeleton so as to produce assorted nano-materials, decisive-particles, species and devices both at atomic and molecular  ...  to yield ultra-stretched shape memory fibers.  ... 
doi:10.5772/intechopen.93243 fatcat:wa2jw2p3krhgranmeo667nsqpu

Soft Robotics: Challenges and Perspectives

Fumiya Iida, Cecilia Laschi
2011 Procedia Computer Science  
There has been an increasing interest in the use of unconventional materials and morphologies in robotic systems because the underlying mechanical properties (such as body shapes, elasticity, viscosity  ...  The detailed investigations of physical system-environment interactions are particularly important for systematic development of technologies and theories of emergent adaptive behaviors.  ...  Some of the ongoing research activities include the use of unconventional actuator materials such as shape memory alloy (SMA) and piezoelectric crystal that can dramatically miniatualize actuation components  ... 
doi:10.1016/j.procs.2011.12.030 fatcat:rxeizxgizvf4fhzntskynk6ic4

Self-Folding Non-Invasive Miniature Robots: Progress and Trend in the Biomedical Field

Vienna Parnell
2021 Nano Biomedicine and Engineering  
Finally, this paper addresses the technical challenges and general research trend of self-folding non-invasive miniature robots.  ...  As such, attention has been directed toward reducing human error and miniaturizing clinical devices by developing smaller devices and robotic systems.  ...  alloys and polymers Shape-memory alloys (SMAs) Shape-memory polymers (SMPs) Description Alloys that are trained at high temperatures to retain a specified structure.  ... 
doi:10.5101/nbe.v13i4.p329-343 fatcat:q2y5tbdlifeehpltfjabluaotm

Physical intelligence as a new paradigm

Metin Sitti
2021 Extreme Mechanics Letters  
PI paradigm aims to synergize and merge many research fields, such as mechanics, materials science, robotics, mechanical design, fluidics, active matter, biology, self-assembly and collective systems,  ...  Such capabilities would progress the future robots and other machines beyond what can be realized using the current frameworks.  ...  Systems (SPP 2100) Program with grant no: 2197/3-1.  ... 
doi:10.1016/j.eml.2021.101340 fatcat:kfe5o64icjdstdvphrqgni4co4

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.  ...  With increasing demand on reliable robotic platforms that can alleviate the burden of daily painstaking tasks, researchers have focused their effort towards developing robotic platforms that possess a  ...  Actuation is provided via shape memory alloy coils that operate two latching mechanisms configured diagonally on the rectangular footprint.  ... 
doi:10.1016/j.robot.2012.09.002 fatcat:vohwjoftv5d6djw56zjg4ylh6q

Towards Autonomous and Intelligent Systems: The Role of Materials Science and Technology

Tarik Baykara
2019 Research & Development in Material Science  
Based on these combinatorial characteristics, the development of intelligent/autonomous materials is important for many scientific, engineering and humanitarian applications such as autonomous robots and  ...  memory alloys, etc.) f.  ...  Thermoresponsive-Shape Memory Alloys Materials that change shape in response to heat or cold and returning to their original forma and shape.  ... 
doi:10.31031/rdms.2019.09.000716 fatcat:647joekz4rhbblozr4funsqvu4

Intelligent Modularized Reconfigurable Mechanisms for Robots: Development and Experiment

Wenfu Xu, Liang Han, Xin Wang, Han Yuan, Bin Liang
2020 Chinese Journal of Mechanical Engineering  
One is driven by shape memory alloy (SMA) and recovery spring. It is locked by steel balls and key. The other is driven by electromagnetic coil and locked by permanent magnet and key.  ...  The reconfigurable connecting mechanism (RCM) is a core component of reconfigurable robots.  ...  Therefore, we adopt the s-shape installation method. The memory alloy wire will contact with multiple parts, such as pins, screws, etc.  ... 
doi:10.1186/s10033-020-00497-5 fatcat:4ravizxaabgx3eeajtjdlaiq7i

Self-healing and self-repairing technologies

Regina Frei, Richard McWilliam, Benjamin Derrick, Alan Purvis, Asutosh Tiwari, Giovanna Di Marzo Serugendo
2013 The International Journal of Advanced Manufacturing Technology  
This article reviews the existing work in selfhealing and self-repairing technologies, including work in software engineering, materials, mechanics, electronics, MEMS, self-reconfigurable robotics, and  ...  It suggests a terminology and taxonomy for self-healing and selfrepair, and discusses the various related types of other self-* This work is supported by the EPSRC Centre for Innovative Manufacturing in  ...  Christian Knipprath for explaining self-healing composite materials.  ... 
doi:10.1007/s00170-013-5070-2 fatcat:564mgebb6nebhis677eo43x23m

Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics]

Mark Yim, Wei-min Shen, Behnam Salemi, Daniela Rus, Mark Moll, Hod Lipson, Eric Klavins, Gregory Chirikjian
2007 IEEE robotics & automation magazine  
Beyond conventional actuation, sensing, and control typically found in fixed-morphology robots, self-reconfigurable robots are also able to deliberately change their own shape by rearranging the connectivity  ...  Modular self-reconfigurable robotic systems can be generally classified into several architectural groups by the geometric arrangement of their units.  ...  Keywords Modular, self-reconfigurable, self-reconfiguring, robot, grand challenges.  ... 
doi:10.1109/mra.2007.339623 fatcat:s3jvxevcvfcejkrzmovzrglibu

A Mobile Self-Reconfigurable Microrobot with Power and Communication Relays

Dawei Zhang, Zhenbo Li, Mao Ling, Jiapin Chen
2010 International Journal of Advanced Robotic Systems  
A modular mobile self-reconfigurable microrobot is developed to enlarge the whole surveillance range of mobile microrobot.  ...  To realize that the microrobot is autonomous, its electrical system is designed in modularity and integrated. A simple autonomous docking approach based on infrared sensors is presented.  ...  Here, Yoshida developed a reconfigurable microrobotic system using shape memory alloy, the unit of which can realize rotational motion by using an actuator mechanism composed of two SMA torsion coil springs  ... 
doi:10.5772/10486 fatcat:yi4j45qdb5e2vdduc3lqu5mvm4

Review of Modular Self-Reconfigurable Robotic Systems and Potential Industry Problems

John Huria Nderitu
2021 Journal of Machine and Computing  
This research reviews the various self-reconfigurable robotic schemes with a brief overview of history and architecture of the robotic schemes.  ...  Modular Self-Reconfigurable Robotic (MSRR) schemes are a vital remedy for the developing demand in consumer products, automations and space exploration.  ...  The first prototype structured can create the construction in 2D with dockages incorporated using tensional springs incorporated from the Shape Memory Alloys (SMAs).  ... 
doi:10.53759/7669/jmc202101014 fatcat:v4sjjfd73bd6hoe67bqfbbesra

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  
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  ...  Docking between independent groups of selfreconfigurable robotic modules enables the merger of two or more independent self-reconfigurable robots.  ...  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
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