Optimized binary modular reconfigurable robotic devices

被引：0
|
作者：
Hafez, M [1 ]
Lichter, MD [1 ]
Dubowsky, S [1 ]
机构：
[1] MIT, Dept Mech Engn, Cambridge, MA 02139 USA
来源：
2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2002年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Binary robotic devices with large numbers of degrees of freedom have been proposed by a number of researchers. However, experimental implementations of these concepts have been built with conventional components. These physical systems are heavy, complex, and far from being practical devices. In this paper, a lightweight, compliant mechanism driven by optimized magnet-coil actuators is proposed and developed as an element for modular hyper-redundant robotic systems. Such elements could be used in a number of applications and would replace conventional, complex, and heavy components. The device has a parallel kinematics structure. Its binary actuation simplifies its control architecture. Analytical and experimental results for a practical prototype system are presented.
引用
收藏
页码：335 / 340
页数：6
相关论文
共 50 条
  • [1] Optimized binary modular reconfigurable robotic devices
    Hafez, M
    Lichter, MD
    Dubowsky, S
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2003, 8 (01) : 18 - 25
  • [2] Modular reconfigurable robotic system
    Zhao, GT
    Zheng, HJ
    Wang, JS
    ISTM/2003: 5TH INTERNATIONAL SYMPOSIUM ON TEST AND MEASUREMENT, VOLS 1-6, CONFERENCE PROCEEDINGS, 2003, : 3735 - 3738
  • [3] Modular and reconfigurable supernumerary robotic limbs
    Zhao S.
    Li C.
    Zhang Z.
    Zhao J.
    Zhu Y.
    Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument, 2021, 42 (04): : 218 - 227
  • [4] Review of the modular self reconfigurable robotic systems
    Feczko, Jacek
    Manka, Michal
    Krol, Pawel
    Giergiel, Mariusz
    Uhl, Tadeusz
    Pietrzyk, Andrzej
    2015 10TH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL (ROMOCO), 2015, : 182 - 187
  • [5] Simple Components for a Reconfigurable Modular Robotic System
    Moses, Matthew S.
    Chirikjian, Gregory S.
    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, : 1478 - 1483
  • [6] A Framework for Modular and Distributable Control of Reconfigurable Robotic Systems
    Steinegger, Michael
    Plaschka, Nikolaus
    Melik-Merkumians, Martin
    Schitter, Georg
    PROCEEDINGS 2016 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT), 2016, : 848 - 853
  • [7] Concept of self-reconfigurable modular robotic system
    Murata, S
    Yoshida, E
    Kurokawa, H
    Tomita, K
    Kokaji, SF
    ARTIFICIAL INTELLIGENCE IN ENGINEERING, 2001, 15 (04): : 383 - 387
  • [8] Review of Modular Self-Reconfigurable Robotic Systems
    Bao, Di
    Wang, Xueqian
    Huang, Hailin
    Liang, Bin
    PROCEEDINGS OF THE 2016 2ND WORKSHOP ON ADVANCED RESEARCH AND TECHNOLOGY IN INDUSTRY APPLICATIONS, 2016, 81 : 1768 - 1773
  • [9] Modular design and motion control of reconfigurable robotic fish
    Hu, Yonghui
    Wang, Long
    Zhao, Wei
    Wang, Qi
    Zhang, Le
    PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, 2007, : 137 - 142
  • [10] High speed formations of reconfigurable modular robotic systems
    Dumitrescu, A
    Suzuki, I
    Yamashita, A
    2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2002, : 123 - 128
12345