METAMORPHIC ROBOTS DISSECTING THE MODULE The segment module

METAMORPHIC ROBOTS

DISSECTING THE MODULE The segment module can be divided into three subsystems: 1. Connection plate 2. Sensing, computation and communication 3. Structure and actuation

CONNECTION PLATE � � Each Clicksegment to edithas thetwo connection plates. outline text format Second Outline It attach modules electrically Level and physically together. Third Outline Level � The connection plates consists of 4 grooved pins Fourth Outline along 4 chamfered Level holes. � Fifth It has 2 photodiodes and 4 Outline the LED’s which determines relative 6 DOF Level and orientation of mating Sixth plate Outline Click to edit the Click to text edit the outline format outline text format Second Outline Second Level Outline Level Third Outline Third Level Outline Level Fourth Outline Level Fifth Outline Level Sixth Outline Level

SENSING, COMPUTATION AND COMMUNICATION Click to edit the �Various sensors like outline text format IR, force, accelerometer, Second Outline Level touch sensors are present. Third Outline �They Level are used to Fourth Outline determine current state of Level system and Fifthobtain environment, Outline 6 DOF between Level docking plates for Sixth automatic Outline � � � � Four emmiter-detector Click to edit the pairs on the center fourthe edges. Click tooftext edit outline format When two text centered faces are outline format closer, intensities received from Second Outline corresponding emitters are larger. Second Level Outline It enables Levellocal communication for two connected modules. Third Outline Accelerometer acceleration Third Outline Levelreflects along axis Level Fourth Each module contains a Motorola Fourth Outline Power PC 555 embedded processor Outline Level with 448 K internal Levelflash ROM, 1 MB Fifth of external RAM. Fifth Each module communicates Outline over local bus within Outline chains Levelof segments by CAN bus standard. Six sided Level Sixth nodes have switching and routing Sixth capability. Outline There are two on. Outline each module Level

STRUCTURE AND ACTUATION � � � IR sensors align the modules for docking and a latch made of shape-memory alloy holds Clicktogether. to edit them Holes andtext pins add stability to outline format connection. Second Power and data. Outline are transmitted Level by elecrical connectors. Third docking Outline For physically and undock every Levelconnection plate houses a latch. Fourth Outline In Conro-robot system every module moves every other Level with two servomotors Fifth controlled by 8 -bit microcontroller. Outline Modules communicate Level through IR interface. Sixth Outline Click to edit the Click to text edit the outline format outline text format Second Outline Second Level Outline Level Third Outline Third Level Outline Level Fourth Outline Level Fifth Outline Level of � Segment module Level Sixth a Conro -robot Sixth Outline Level

LOCOMOTION OF ROBOTS � � � � Locomotion of robots is determined by angle between connection plates made by the Clickoftoeach edit the motor module. outline format In additiontext to physically implemented gaits several Second other gaits are Outline simulated( 4 armed cartwheel locomotion, Level carrying an object while rolling) Third Outlinetwo In sinusoidal locomotion properties were considered: Level 1. torque( how many modules Fourth Outline can be raised to cantilevered condition) Level 2. complaince(it helps Fifthsystem to confirm to terrain and gain Outline maximum foot contact) G 1 -torque(<5) Level G 2 -toque(8) Sixth G 3(6) Outline Click to edit the Click to text edit the outline format outline text format Second Outline Second Level Outline Level Third Outline Third Level Outline Level Fourth Outline Level Fifth Outline Level a � Figure illustrates Level Sixth snake robot passing Sixth Outline through a pipe and Outline Level

LOCOMOTION OF ROBOTS

DISTRUBUTED CONTROL BASED ON DIGITAL HORMONES Click to edit the � � � � Self reconfigure Click to editsystem the consists of cells and Digital Hormones. outline text format Digital hormones are released from cells and captured by receptors of Second Outline neighboring cells. Level They are propogated from high to low density space and stops when Third Outline density is below threshold Level Metamorphic robots are made of rcells that can connect and Fourth Outline disconnect to form different Level configurations r-cells’ actions and decisions Fifth depend on received hormones, Outline receptors , local information and Level knowledge Sixth has a They has no destination, lifetime, contains codes. Outline Click to text edit the outline format outline text format Second Outline Second Level Outline Level Third Outline Third Level Outline Level Fourth Outline Level Fifth Outline Level � A local engine Level Sixth with a set of Sixth Outlinecan receptors Outline Level

HOW DO THEY CHANGE SHAPE In order to change from a legged configuration into a snake “leg-tail assimilating” action must be done 4 times. The robot connects its tail to the foot of a leg and Click to edit the Click tofrom edit Click to text edit the disconnects the leg thethe body. outline format The process starts with generation of reconfiguration outline text format digital hormone LTS Second Outline The LTS digital hormone Outline will react only to foot cell Second Outline Second Level which is triggered to generate RCT digital hormone(4 ). Level Only tail r-cell will react to this hormone. Third Outline The tail will acknowledge by sending out a new Third. RCT Outline Third Outline Level TAR digital hormone and inhibit the receptor for Level accepting any RCT. Fourth Only the leg r-cell that initiated the acknowledged Fourth Outline Level RCT will react. Level It terminates generation of RCT and generates ALT Fifth digital hormone and starts reconfiguration. The tail r Fifth cell will terminate TAR digital hormone and start action Outline to assimilate leg. Outline � Level The tail r-cell will reactivate its receptor for RCT digital Level Sixth hormone and another leg assimilation is performed. Sixth This procedure repeats until all legs are assimilated Outline l Outline The robot must change from Level

CHANGING SHAPE

CONFIGURATION –ADAPTATION FOR ENVIRONMENTS AND TASKS � �Self-reconfiguration in a dynamic environment is a challenging task. �Each configuration is a graph �In search space one state can be changed to another through an operator �Configuration graphs can be evaluated by evaluation function which takes a set of configuration properties(cofiguration size, energy

APPLICATIONS � Planetary explorations � Undersea mining � Maintenance tasks on ship hulls and oil tanks � � Inspection and rescue : In such places as pipes, nuclear plant, or tunnels, which are hardly accessible to humans Other tasks in unstructured unknown

FUTURE IMPROVEMENT � � � Currently, all the modules are controlled by a host computer in a central manner to perform previously planned motions. In future, technology will made to allow the modular robot to move or conduct tasks by adapting itself to unknown or dynamically changing environment through the following improvements: • Equipping modules with sensors to detect external environments • Implementing a distributed control system where each module decides its action in an autonomous way • Automatic and more efficient motion planning that is currently hand-coded. Improvement of connection and motion mechanism for more reliable motion.

CONCLUSION �Metamorphic robots are a revolutionary robotic technology that could greatly enhance human capabilities in space and enable a new range of scientific activities and planetary exploration. �It opens the possibility of

REFERENCES � 1. parasol. tamu. edu � 2. www 2. parc. com � 3. custer. me. jhu. edu � 4. www. cs. cmu. edu � 5. www. google. com

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