Fluidic manipulation for scalable stochastic 3D assembly of modular robots
Fluidic manipulation for scalable stochastic 3D assembly of modular robots
复制标题
用于模块化机器人可扩展随机 3D 装配的流体操纵
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
Hod Lipson
中科院分区：
文献类型：
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作者：
M. Tolley;Hod Lipson
自重新配置模块化机器人的一个重大挑战是由数千个组件组装成一个功能系统。然而，到目前为止，只演示了由少量模块组成的系统。扩展到大量模块的一种方法是通过减轻模块的典型动力、控制和运动所需的驱动要求来简化模块设计。装配是通过利用随机环境运动将模块移动到适当的位置来完成的。在这里，我们提出了一个实验系统，在这个系统中，我们通过控制1.3 L容器中的流体流动，将简单的、15mm尺寸的部件随机组装成三维目标结构。我们还演示了基本装配和维修操作的实验，并讨论了初始装配统计。
One of the grand challenges of self-reconfiguring modular robotics is the assembly of a functional system from thousands of components. However, to date, only systems comprised of small numbers of modules have been demonstrated. One approach to scaling to large numbers of modules is to simplify module design by relieving the modules of the typical power, control, and actuation requirements necessary for locomotion. Assembly is accomplished by taking advantage of stochastic environmental motions to move the modules into place. Here we present an experimental system in which we assemble 3D target structures stochastically from simple, 15 mm-scaled components by manipulating the fluid flow in a 1.3 L tank. We also demonstrate fundamental assembly and repair operations experimentally, and discuss initial assembly statistics.