Omni-Pi-tent: An Omnidirectional Modular Robot With Genderless Docking
Omni-Pi-tent: An Omnidirectional Modular Robot With Genderless Docking
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DOI：
10.1007/978-3-030-25332-5_27
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发表时间：
2019-07
影响因子：
3.3
通讯作者：
R. H. Peck;J. Timmis;A. Tyrrell
中科院分区：
文献类型：
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作者：
R. H. Peck;J. Timmis;A. Tyrrell
本文介绍了Omni-Pi-tent的设计和开发，一个自重构模块化机器人能够在连续运动过程中自我修复。本文概述了动态自修复实验所需的设计功能以及Omni-Pi-tent的设计如何实现这些功能，我们总结了第一个原型的构造，并讨论了测试其关键传感器和执行器的初步实验。此外，本文介绍了实验中，经验数据从实验室测试的传感器硬件集成到V-REP模拟通过创建自定义传感器模型，以减少现实差距。
This paper presents the design and development of Omni-Pi-tent, a self-reconfigurable modular robot capable of self-repair during continuous motion. This paper outlines the design features necessary for Dynamic Self-repair experiments and how the design of Omni-Pi-tent implements them, we summarise the construction of the first prototype and discuss initial experiments testing some of its key sensors and actuators. In addition, the paper describes experiments in which empirical data from laboratory tests of sensor hardware was integrated into V-REP simulations by means of creating custom sensor models so as to reduce the reality gap.