Self-Reconfigurable Robots

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Description

A distributed reconfigurable micro-robotic system is a collection of unlimited numbers of distributed small, homogeneous robots designed to autonomously organize and reorganize in order to achieve mission-specified geometric shapes and functions. This project investigated the design, control, and planning issues for self-configuring and self-organizing robots. In the 2D space a system consisting of two robots was prototyped and successfully displayed automatic docking/undocking to operate dependently or independently. Additional modules were constructed to display the usefulness of a self-configuring system in various situations. In 3D a self-reconfiguring robot system of 4 identical modules was built. Each module connects to its neighbors ... continued below

Physical Description

34 pages

Creation Information

HENSINGER, DAVID M.; JOHNSTON, GABRIEL A.; HINMAN-SWEENEY, ELAINE M.; FEDDEMA, JOHN T. & ESKRIDGE, STEVEN E. October 1, 2002.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM, and Livermore, CA (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

A distributed reconfigurable micro-robotic system is a collection of unlimited numbers of distributed small, homogeneous robots designed to autonomously organize and reorganize in order to achieve mission-specified geometric shapes and functions. This project investigated the design, control, and planning issues for self-configuring and self-organizing robots. In the 2D space a system consisting of two robots was prototyped and successfully displayed automatic docking/undocking to operate dependently or independently. Additional modules were constructed to display the usefulness of a self-configuring system in various situations. In 3D a self-reconfiguring robot system of 4 identical modules was built. Each module connects to its neighbors using rotating actuators. An individual component can move in three dimensions on its neighbors. We have also built a self-reconfiguring robot system consisting of 9-module Crystalline Robot. Each module in this robot is actuated by expansion/contraction. The system is fully distributed, has local communication (to neighbors) capabilities and it has global sensing capabilities.

Physical Description

34 pages

Source

  • Other Information: PBD: 1 Oct 2002

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  • Report No.: SAND2002-3237
  • Grant Number: AC04-94AL85000
  • DOI: 10.2172/805834 | External Link
  • Office of Scientific & Technical Information Report Number: 805834
  • Archival Resource Key: ark:/67531/metadc736139

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Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

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Creation Date

  • October 1, 2002

Added to The UNT Digital Library

  • Oct. 18, 2015, 6:40 p.m.

Description Last Updated

  • April 12, 2016, 5:11 p.m.

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HENSINGER, DAVID M.; JOHNSTON, GABRIEL A.; HINMAN-SWEENEY, ELAINE M.; FEDDEMA, JOHN T. & ESKRIDGE, STEVEN E. Self-Reconfigurable Robots, report, October 1, 2002; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc736139/: accessed June 20, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.