SpinBot: An Autonomous, Externally Actuated Robot for Swarm Applications
SpinBot: An Autonomous, Externally Actuated Robot for Swarm Applications
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SpinBot：用于群体应用的自主外部驱动机器人
DOI：
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发表时间：
2018
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：
Andrew SaLoutos;Michael Rubenstein
单个机器人的复杂性、成本和功率要求是限制机器人群规模的重要因素。在本文中，我们提出了一个原型机器人，SpinBot，这是外部驱动通过轨道表，只有一个红外传感器对通信和传感。SpinBot可以通过激活和停用其唯一的机载致动器（电永磁体）来在2D中自主移动，并且可以通信和感知其邻居之间的角度。角度传感是通过在机器人底盘上添加一个轴承，并从SpinBot和台面之间的连接点偏移质心来实现的，这样SpinBot的上部就可以以与轨道台相同的频率绕自身旋转。我们详细描述了SpinBot的设计，并提出了结果，从我们实施的一组四个SpinBot的中心算法，利用SpinBot的独特的传感和运动能力。
Complexity, cost, and power requirements of individual robots are large factors in limiting the size of robotic swarms. In this paper, we present a prototype robot, the SpinBot, that is externally actuated via an orbital table and has only one infrared sensor pair for communication and sensing. The SpinBot can move autonomously in 2D by activating and de-activating its only onboard actuator, an electro-permanent magnet, and can communicate and sense the angles between its neighbors. The angle sensing is accomplished by adding a bearing to the robot chassis and offsetting the center of mass from the point of attachment between the SpinBot and the table surface, so that the upper part of SpinBot rotates about itself at the same frequency as the orbital table. We describe the design of the SpinBot in detail, and present results from our implementation of a centering algorithm for a group of four SpinBots which utilizes the SpinBot’s unique sensing and locomotion abilities.