HexaMob—A Hybrid Modular Robotic Design for Implementing Biomimetic Structures
Modular robots are capable of forming primitive shapes such as lattice and chain structures with the additional flexibility of distributed sensing. The biomimetic structures developed using such modular units provides ease of replacement and reconfiguration in co-ordinated structures, transportation...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2017-10-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/6/4/27 |
| _version_ | 1811187648911376384 |
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| author | Sasanka Sankhar Reddy CH. Sharath Patlolla Anita Agrawal Anupama K. R. |
| author_facet | Sasanka Sankhar Reddy CH. Sharath Patlolla Anita Agrawal Anupama K. R. |
| author_sort | Sasanka Sankhar Reddy CH. |
| collection | DOAJ |
| description | Modular robots are capable of forming primitive shapes such as lattice and chain structures with the additional flexibility of distributed sensing. The biomimetic structures developed using such modular units provides ease of replacement and reconfiguration in co-ordinated structures, transportation etc. in real life scenarios. Though the research in the employment of modular robotic units in formation of biological organisms is in the nascent stage, modular robotic units are already capable of forming such sophisticated structures. The modular robotic designs proposed so far in modular robotics research vary significantly in external structures, sensor-actuator mechanisms interfaces for docking and undocking, techniques for providing mobility, coordinated structures, locomotions etc. and each robotic design attempted to address various challenges faced in the domain of modular robotics by employing different strategies. This paper presents a novel modular wheeled robotic design - HexaMob facilitating four degrees of freedom (2 degrees for mobility and 2 degrees for structural reconfiguration) on a single module with minimal usage of sensor-actuator assemblies. The crucial features of modular robotics such as back-driving restriction, docking, and navigation are addressed in the process of HexaMob design. The proposed docking mechanism is enabled using vision sensor, enhancing the capabilities in docking as well as navigation in co-ordinated structures such as humanoid robots. |
| first_indexed | 2024-04-11T14:06:55Z |
| format | Article |
| id | doaj.art-5ddf92aff9cc42c58087c50660f1d683 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-04-11T14:06:55Z |
| publishDate | 2017-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-5ddf92aff9cc42c58087c50660f1d6832022-12-22T04:19:52ZengMDPI AGRobotics2218-65812017-10-01642710.3390/robotics6040027robotics6040027HexaMob—A Hybrid Modular Robotic Design for Implementing Biomimetic StructuresSasanka Sankhar Reddy CH.0Sharath Patlolla1Anita Agrawal2Anupama K. R.3Birla Institute of Technology & Science (BITS) Pilani, K.K Birla Goa Campus, Goa, 403726, IndiaBirla Institute of Technology & Science (BITS) Pilani, K.K Birla Goa Campus, Goa, 403726, IndiaBirla Institute of Technology & Science (BITS) Pilani, K.K Birla Goa Campus, Goa, 403726, IndiaBirla Institute of Technology & Science (BITS) Pilani, K.K Birla Goa Campus, Goa, 403726, IndiaModular robots are capable of forming primitive shapes such as lattice and chain structures with the additional flexibility of distributed sensing. The biomimetic structures developed using such modular units provides ease of replacement and reconfiguration in co-ordinated structures, transportation etc. in real life scenarios. Though the research in the employment of modular robotic units in formation of biological organisms is in the nascent stage, modular robotic units are already capable of forming such sophisticated structures. The modular robotic designs proposed so far in modular robotics research vary significantly in external structures, sensor-actuator mechanisms interfaces for docking and undocking, techniques for providing mobility, coordinated structures, locomotions etc. and each robotic design attempted to address various challenges faced in the domain of modular robotics by employing different strategies. This paper presents a novel modular wheeled robotic design - HexaMob facilitating four degrees of freedom (2 degrees for mobility and 2 degrees for structural reconfiguration) on a single module with minimal usage of sensor-actuator assemblies. The crucial features of modular robotics such as back-driving restriction, docking, and navigation are addressed in the process of HexaMob design. The proposed docking mechanism is enabled using vision sensor, enhancing the capabilities in docking as well as navigation in co-ordinated structures such as humanoid robots.https://www.mdpi.com/2218-6581/6/4/27modularroboticsreconfigurationco-ordinationchainhybridbiomimetics |
| spellingShingle | Sasanka Sankhar Reddy CH. Sharath Patlolla Anita Agrawal Anupama K. R. HexaMob—A Hybrid Modular Robotic Design for Implementing Biomimetic Structures Robotics modular robotics reconfiguration co-ordination chain hybrid biomimetics |
| title | HexaMob—A Hybrid Modular Robotic Design for Implementing Biomimetic Structures |
| title_full | HexaMob—A Hybrid Modular Robotic Design for Implementing Biomimetic Structures |
| title_fullStr | HexaMob—A Hybrid Modular Robotic Design for Implementing Biomimetic Structures |
| title_full_unstemmed | HexaMob—A Hybrid Modular Robotic Design for Implementing Biomimetic Structures |
| title_short | HexaMob—A Hybrid Modular Robotic Design for Implementing Biomimetic Structures |
| title_sort | hexamob a hybrid modular robotic design for implementing biomimetic structures |
| topic | modular robotics reconfiguration co-ordination chain hybrid biomimetics |
| url | https://www.mdpi.com/2218-6581/6/4/27 |
| work_keys_str_mv | AT sasankasankharreddych hexamobahybridmodularroboticdesignforimplementingbiomimeticstructures AT sharathpatlolla hexamobahybridmodularroboticdesignforimplementingbiomimeticstructures AT anitaagrawal hexamobahybridmodularroboticdesignforimplementingbiomimeticstructures AT anupamakr hexamobahybridmodularroboticdesignforimplementingbiomimeticstructures |