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METAMORPHIC ROBOTS
DISSECTING THE MODULE
The segment module can be
divided into three
subsystems:
1.Connection plate
2.Sensing,computation and
communication
3.Structure and actuation
CONNECTION PLATE
Each
Clicksegment
to edithas
thetwo
connection
plates.
outline text
format
Second
Outline
Itattach
modules
Level and physically
electrically
together.
Third Outline
Level
The connection plates
consists of
4 grooved pins
Fourth
along 4chamfered
Outlineholes.
Level
Fifth
It has 2 photodiodes and 4
Outline the
LED’s which determines
relative 6 DOF Level
and
orientation of mating
Sixth plate
Outline
Click to edit the
Click
to text
edit the
outline
format
outline text format
Second Outline
Second
Level Outline
Level
Third Outline
Third
Level Outline
Level
Fourth
Fourth
Outline Level
Outline Level
Fifth
Fifth
Outline
Outline
Level
Level
Sixth
Sixth
Outline
Outline
Level
SENSING,COMPUTATION AND
COMMUNICATION
Click to edit
the like
Various
sensors
outline
text format
IR,
force,
accelerometer,
Second Outline
Level
touch
sensors are
present.
Third Outline
They Level
are used to
Fourth
determine
current
Level
state of Outline
system
Fifth
and environment,
Outline
obtain 6 DOF
Level
between docking
Sixth
plates for automatic
Outline
Four
emmiter-detector
Click
to edit the pairs on
the
center
fourthe
edges.
Click
tooftext
edit
outline
format
When two text
centered
faces are
outline
format
closer,
intensities
received from
Second
Outline
corresponding
emitters are larger.
Second
Level Outline
It enables
Levellocal communication for
two connected
modules.
Third
Outline
Accelerometer
Third
Outline
Levelreflects
acceleration
along axis
Level
Fourth
Each module
contains a Motorola
Fourth
Power PC555
embeddedLevel
processor
Outline
with 448K internal
flash
ROM, 1MB
Outline
Level
Fifth
of external RAM.
Fifth
Each module communicates
Outline over
local bus within Outline
chains
Levelof
segments by CAN
bus standard.
Level
Sixth
Six sided nodes have
switching and
Sixth
routing capability.
Outline
There are two onOutline
each module
Level
STRUCTURE AND ACTUATION
IR sensors align the modules
for docking and a latch made
of shape-memory alloy holds
Clicktogether.
to edit the
them
Holes andtext
pins add
stability to
outline
format
connection.
Second
Power
and dataOutline
are
transmitted
Level by elecrical
connectors.
Third docking
Outline
For physically
and
undock every
Levelconnection plate
houses a latch.
Fourth
In Conro-robot
system every
module moves
every other
Outline
Level
with two servomotors
Fifth
controlled by 8-bit
microcontroller. Outline
Modules communicate
Level
through IR interface.
Sixth
Outline
Click to edit the
Click
to text
edit the
outline
format
outline text format
Second Outline
Second
Level Outline
Level
Third Outline
Third
Level Outline
Level
Fourth
Fourth
Outline Level
Outline Level
Fifth
Fifth
Outline
Outline
Level of
Segment module
Level
Sixth
a Conro -robot
Sixth
Outline
Outline
Level
LOCOMOTION OF ROBOTS
Locomotion of robots is
determined by angle between
connection plates made by the
Clickoftoeach
edit
the
motor
module.
outline
format
In additiontext
to physically
implemented gaits several
Second
other
gaits are Outline
simulated(
4armed
cartwheel locomotion,
Level
carrying an object while
Third Outline
rolling)
In sinusoidal
locomotion two
Level
properties were considered:
Fourth
1.torque( how
many modules
Outline
Level
can be raised
to cantilevered
condition)
Fifth
2.complaince(it helps system
Outline
to confirm to terrain
and gain
maximum foot contact)
Level
G1-torque(<5) Sixth
G2-toque(8)
Outline
Click to edit the
Click
to text
edit the
outline
format
outline text format
Second Outline
Second
Level Outline
Level
Third Outline
Third
Level Outline
Level
Fourth
Fourth
Outline Level
Outline Level
Fifth
Fifth
Outline
Outline
Level a
Figure illustrates
Level
Sixth
snake robot
passing
Sixth
Outline
through a pipe
and
Outline
Level
LOCOMOTION OF ROBOTS
DISTRUBUTED CONTROL BASED
ON DIGITAL HORMONES
Click to edit the
Self
reconfigure
Click
to editsystem
the consists of
cells and Digital Hormones.
outline text format
Digital hormones are released
from
cells and Outline
captured by
Second
receptors of neighboring cells.
Level
They are propogated from high to
low density
space
and stops when
Third
Outline
density is below threshold
Level
Metamorphic robots are made of
r-cells that can
connect and
Fourth
disconnect to form different
Outline Level
configurations
r-cells’ actions and
decisions
Fifth
depend on received
hormones,
Outline
receptors ,local information and
Level
knowledge
Sixth has a
They has no destination,
lifetime, contains
codes.
Outline
Click
to text
edit the
outline
format
outline text format
Second Outline
Second
Level Outline
Level
Third Outline
Third
Level Outline
Level
Fourth
Fourth
Outline Level
Outline Level
Fifth
Fifth
Outline
Outline
Level
A local
engine
Level
Sixth
with
a set of
Sixth
Outlinecan
receptors
Outline
Level
HOW DO THEY CHANGE SHAPE
In order to change from a legged configuration into a
snake “leg-tail assimilating” action must be done 4
times.
The robot connects its tail to the foot of a leg and Click to edit the
Click
tofrom
edit
Click
to text
edit the
disconnects
the leg
thethe
body.
outline
format
The process
starts with
generation
of reconfiguration
outline
text
format
outline text format
digital hormone LTS
Second Outline
The LTS digital
hormone Outline
will react only to foot cell Second Outline
Second
Level
which is triggered to generate RCT digital hormone(4 ).
Level
Level
Only tail r-cell will react to this hormone .
Third Outline
The tail will acknowledge
by sending out a new
Third RCT
Outline
Third
Outline
Level
TAR digital hormone and inhibit the receptor for
Level
Level
accepting any RCT.
Fourth
Only the leg r-cell that initiated the acknowledged
Fourth
Fourth
Outline Level
RCT will react.
Outline
Level
Outline Level
It terminates generation
of RCT and
generates ALT
Fifth
digital hormone and starts reconfiguration. The tail r Fifth
Fifth
Outline
cell will terminate TAR digital hormone and start action
to assimilate leg.
Outline
Outline
Level
The tail r-cell will reactivate
its
receptor
for
RCT
digital
Level
Level
Sixth
hormone and another leg assimilation is performed.
This procedure repeats until
all legs are assimilated
Sixth
Sixth
Outline
l
Outline
Outline
The robot
must
change
Level
CHANGING SHAPE
CONFIGURATION –ADAPTATION FOR
ENVIRONMENTS AND TASKS
Self-reconfiguration
in a dynamic
environment is a challenging task.
Each configuration is a graph
In search space one state can be
changed to another through an
operator
Configuration
graphs
can
be
evaluated by evaluation function
which takes a set of configuration
properties(cofiguration size, energy
APPLICATIONS
Planetary explorations
Undersea mining
Maintenance tasks on ship hulls and oil tanks
Inspection and rescue : In such places as
pipes, nuclear plant, or tunnels, which are
hardly accessible to humans
Other tasks in unstructured unknown
FUTURE IMPROVEMENT
Currently, all the modules are controlled by a host computer in a
central manner to perform previously planned motions.
In future, technology will made to allow the modular robot to move
or conduct tasks by adapting itself to unknown or dynamically
changing environment through the following improvements:
• Equipping modules with sensors to detect external environments
• Implementing a distributed control system where each module
decides its action in an autonomous way
• Automatic and more efficient motion planning that is currently
hand-coded.
Improvement of connection and motion mechanism for more
reliable motion.
CONCLUSION
Metamorphic
robots are a
revolutionary robotic technology
that could greatly enhance
human capabilities in space and
enable a new range of scientific
activities and planetary
exploration.
It
opens the possibility of
REFERENCES
1.parasol.tamu.edu
2. www2.parc.com
3.custer.me.jhu.edu
4. www.cs.cmu.edu
5.www.google.com
THANK YOU