mROBerTO: A modular millirobot for swarm-behavior studies
mROBerTO: A modular millirobot for swarm-behavior studies
复制标题
mROBerTO：用于群体行为研究的模块化毫机器人
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
B. Benhabib
中科院分区：
文献类型：
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作者：
J. Y. Kim;Tyler Colaco;Zendai Kashino;G. Nejat;B. Benhabib
在过去的几年里，微型机器人越来越受欢迎，尤其是在群体行为研究中，它允许研究人员在有限的工作空间里用大量的单元进行实验。然而，随着这些机器人的体积越来越小，它们的感官能力和电池寿命也在减少。其中许多也是定制的，很少有现成的组件，展示了整体（即非模块化）设计。针对上述问题，本文提出了一种新型的开源微型机器人，该机器人采用模块化设计，基于使用易于采购的元件和现成的组件。提出的毫米机器人多伦多（mROBerTO）是一个16×16平方毫米的机器人，具有各种传感器（包括接近、IMU、指南针、环境光和摄像头）。罗伯托能够使用红外发射器和探测器进行编队控制。它还可以通过蓝牙智能、ANT+或两者同时进行通信。它配备了一个ARM处理器来处理复杂的任务，并具有256 KB的闪存，具有无线编程能力。
Millirobots have increasingly become popular over the past several years, especially for swarm-behavior studies, allowing researchers to run experiments with a large number of units in limited workspaces. However, as these robots have become smaller in size, their sensory capabilities and battery life have been reduced. A number of these have also been customized, with few off-the shelf components, exhibiting integral (i.e., non-modular) designs. In response to the above concerns, this paper presents a novel open-source millirobot with a modular design based on the use of easily sourced elements and off-the-shelf components. The proposed milli-robot-Toronto (mROBerTO), is a 16×16 mm2 robot with a variety of sensors (including proximity, IMU, compass, ambient light, and camera). mROBerTO is capable of formation control using an IR emitter and detector add-on. It can also communicate via Bluetooth Smart, ANT+, or both concurrently. It is equipped with an ARM processor for handling complex tasks and has a flash memory of 256 KB with over-the-air programming capability.