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Nested reconfigurable robots: theory, design, and realization
journal contribution
posted on 2023-06-09, 00:28 authored by Ning Tan, Nicolas Rojas, Rajesh Elara Mohan, Vincent Kee, Ricardo SosaRather than the conventional classification method, we propose to divide modular and reconfigurable robots into intra-, inter-, and nested reconfigurations. We suggest designing the robot with nested reconfigurability, which utilizes individual robots with intra-reconfigurability capable of combining with other homogeneous/heterogeneous robots (inter-reconfigurability). The objective of this approach is to generate more complex morphologies for performing specific tasks that are far from the capabilities of a single module or to respond to programmable assembly requirements. In this paper, we discuss the theory, concept, and initial mechanical design of Hinged-Tetro, a self-reconfigurable module conceived for the study of nested reconfiguration. Hinged-Tetro is a mobile robot that uses the principle of hinged dissection of polyominoes to transform itself into any of the seven one-sided tetrominoes in a straightforward way. The robot can also combine with other modules for shaping complex structures or giving rise to a robot with new capabilities. Finally, the validation experiments verify the nested reconfigurability of Hinged-Tetro. Extensive tests and analyses of intra-reconfiguration are provided in terms of energy and time consumptions. Experiments using two robots validate the inter-reconfigurability of the proposed module.
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- Published
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- Published version
Journal
International Journal of Advanced Robotic SystemsISSN
1729-8806Publisher
InTechExternal DOI
Issue
7Volume
12Department affiliated with
- Engineering and Design Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2016-03-07First Open Access (FOA) Date
2016-03-07First Compliant Deposit (FCD) Date
2016-03-07Usage metrics
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