FireAnt3D: a 3D self-climbing robot towards non-latticed robotic self-assembly
FireAnt3D: a 3D self-climbing robot towards non-latticed robotic self-assembly
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FireAnt3D：面向非格子机器人自组装的3D自爬升机器人
DOI：
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
Michael Rubenstein
中科院分区：
文献类型：
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作者：
Petras Swissler;Michael Rubenstein
机器人的自组装使机器人能够结合起来，不幸的是，大多数自组装的机器人群携带的方法通过使用固定的对接位置损害了这种适应性的承诺在负载示范或不完美的机器人制造中，随着群体的增加而导致的晶格。通过细胞和社交昆虫，FIREANT3D使用一种新型的对接机制，即3D连续的码头，无论对齐如何像机器人和机器人对同行的任意3D安排一样。并解决了机器人自组装领域的长期挑战。
Robotic self-assembly allows robots to join to form useful, on-demand structures. Unfortunately, the methods employed by most self-assembling robotic swarms compromise this promise of adaptability through their use of fixed docking locations, which impair a swarm’s ability to handle imperfections in the structural lattice resulting from load deflection or imperfect robot manufacture; these concerns worsen as swarm size increases. Inspired by the amorphous structures built by cells and social insects, FireAnt3D uses a novel docking mechanism, the 3D continuous dock, to attach to like robots regardless of alignment. FireAnt3D demonstrates the use of the 3D continuous docks, as well as how a robot can use such docks to connect to like robots and locomote over arbitrary 3D arrangements of its peers. The research outlined in this paper presents a profoundly different approach to docking and locomotion during self-assembly and addresses longstanding challenges in the field of robotic self-assembly.