Locomoting Robots Composed of Immobile Robots
Locomoting Robots Composed of Immobile Robots
复制标题
由固定机器人组成的运动机器人
DOI：
10.1109/irc.2018.00047
复制
发表时间：
2018
期刊：
影响因子：
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通讯作者：
Goldman, Daniel I.
中科院分区：
文献类型：
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作者：
Warkentin, Ross;Savoie, William;Goldman, Daniel I.
机器人材料是一种多机器人系统，旨在利用成分的低阶计算和驱动来操纵整个材料的高阶行为。我们研究了由智能活性粒子Smarticle组成的系综的行为。Smarticle是一种小型、低成本的机器人，配备了基本的驱动和传感能力，不能单独旋转或移动。我们证明了由约束在一个有界膜内的多个Smarticle组成的“超Marticle”可以利用机器人材料在元件和膜之间的内部碰撞来实现扩散运动。类似于生物趋光性，可以通过响应光源来调节机器人材料的属性来引导浮现扩散。光源在机器人材料内引入不对称，导致相互作用模式和动力学的修改群体，最终导致超马丁偏向运动。我们介绍了机器人材料在光源作用下以定向位移运动的实验方法和结果。
Robotic materials are multi-robot systems formulated to leverage the low-order computation and actuation of the constituents to manipulate the high-order behavior of the entire material. We study the behaviors of ensembles composed of smart active particles, smarticles. Smarticles are small, low cost robots equipped with basic actuation and sensing abilities that are individually incapable of rotating or displacing. We demonstrate that a "supersmarticle", composed of many smarticles constrained within a bounding membrane, can harness the internal collisions of the robotic material among the constituents and the membrane to achieve diffusive locomotion. The emergent diffusion can be directed by modulating the robotic material properties in response to a light source, analogous to biological phototaxis. The light source introduces asymmetries within the robotic material, resulting in modified populations of interaction modes and dynamics which ultimately result in supersmarticle biased locomotion. We present experimental methods and results for the robotic material which moves with a directed displacement in response to a light source.
Smarticles：智能、活跃的颗粒物质
DOI：
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发表时间：
2016
期刊：
影响因子：
--
作者：
W. Savoie;A. Pazouki;D. Negrut;D. Goldman
通讯作者：
D. Goldman
模块化机器人上环境自适应形状的自组织
DOI：
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发表时间：
2007
期刊：
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
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作者：
Chih;F. Willems;D. Ingber;R. Nagpal
通讯作者：
R. Nagpal