Nested Reconfigurable Robots: Theory, Design, and Realization. (31st July 2015)

• Record Type: Journal Article
• Authors: Tan, Ning; Rojas, Nicolas; Elara Mohan, Rajesh; Kee, Vincent; Sosa, Ricardo
• Is Part Of: International journal of advanced robotic systems. Volume 12:Number 7(2015)
• Publication Date: 2015-07-31
• Subjects: Nested reconfiguration -- Modular robot -- Self-reconfigurable -- Tetromino; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/60507
• Languages: English
• ISSNs: 1729-8806

Abstract

Rather than the conventional classification method, we propose to divide modular and reconfigurable robots into intra-, inter-, and nested reconfigurations. We suggest designing the robot with nested reconfigurability, which utilizes individual robots with intra-reconfigurability capable of combining with other homogeneous/heterogeneous robots (inter-reconfigurability). The objective of this approach is to generate more complex morphologies for performing specific tasks that are far from the capabilities of a single module or to respond to programmable assembly requirements. In this paper, we discuss the theory, concept, and initial mechanical design of Hinged-Tetro, a self-reconfigurable module conceived for the study of nested reconfiguration. Hinged-Tetro is a mobile robot that uses the principle of hinged dissection of polyominoes to transform itself into any of the seven one-sided tetrominoes in a straightforward way. The robot can also combine with other modules for shaping complex structures or giving rise to a robot with new capabilities. Finally, the validation experiments verify the nested reconfigurability of Hinged-Tetro. Extensive tests and analyses of intra-reconfiguration are provided in terms of energy and time consumptions. Experiments using two robots validate the inter-reconfigur ability of the proposed module.