Amorim Marques, J., Ozdemir, A. orcid.org/0000-0003-0014-4699, Doyle, M. et al. (2 more authors) (2020) Decentralized pose control of modular reconfigurable robots operating in liquid environments. In: Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), 03-08 Nov 2019, Macau, China. IEEE , pp. 4855-4861. ISBN 9781728140056
Abstract
Modular reconfigurable robots are touted for their flexibility, as their bodies can assume a wide range of shapes. A particular challenge is to make them move efficiently in 3D without compromising the scalability of the system. This paper proposes decentralized and fully reactive controllers for pose control of 3D modular reconfigurable robots. The robots operate in liquid environments, and move by routing fluid through themselves. Each module uses only two bits of sensory information per face. Additionally, the modules can use up to five bits of information that are exchanged via shared power lines. We prove that robots of convex shape are guaranteed to reach a goal object with a preferred orientation. Using computer simulations of Modular Hydraulic Propulsion robots, all controllers are assessed for different environments, system sizes and noise, and their performances compared against a centralized controller. Given the simplicity of the solutions, modules could be realized at scales below a millimeter-cube, where robots of high spatial resolution could perform accurate movements in 3D liquid environments.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 09 Aug 2019 09:55 |
Last Modified: | 27 Jan 2021 01:38 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/IROS40897.2019.8967698 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:149450 |