The Collective Self-reconfigurable Modular Organism (CoSMO)
The Collective Self-reconfigurable Modular Organism (CoSMO)
复制标题
集体自重构模块化有机体（CoSMO）
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
H. Wörn
中科院分区：
文献类型：
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作者：
J. Liedke;R. Matthias;L. Winkler;H. Wörn
本文将介绍我们在两个欧洲项目Replicator和SYMBRION中开发的新型移动模块化自重构机器人平台Cosmo Platform。与其他MSR平台相比，该平台具有巨大的计算能力，并且在连接的模块之间显示出很大的通信带宽。此外，它的模块之间具有能量共享的能力，并能够自行向各个主要方向移动。由于机械设计，不同的生物体拓扑和运动行为使Cosmo能够灵活地完成不同的任务，并适应环境中不可预见的变化。尽管如此，机器人模块的尺寸和质量仍然可以与其他平台相媲美。在本文中，我们将概述处于开发最后阶段的Cosmo平台的体系结构。特别是机械、电子和软件的设计。我们将提供机器人原型的第一次测试，并将在模拟中展示平台的潜在功能。
In this paper we will present the CoSMO platform, a new mobile modular self-reconfigurable robot (MSR) platform which we developed within the two European projects REPLICATOR and SYMBRION. Compared to other MSR platforms, this platform possesses huge computational capabilities and it exhibits a large communication bandwidth between connected modules. Furthermore, its modules have the ability to share energy among each other and locomote in every main direction by their own. Due to the mechanical design, different organism topologies and motion behaviors enable CoSMO to be flexible to different tasks and to adapt to unforeseen changes in the environment. Nevertheless, the size and the mass of the robot modules are still comparable to other platforms. In this paper, we will give an overview of the architecture of the CoSMO platform, which is in its final stage of development. In particular, we will describe the mechanical, the electronic and the software design. We will present first tests with the prototype of the robot and will show the potential functionality of the platform in simulation.