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Modular Fluidic Propulsion Robots
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DOI：10.1109/TRO.2020.3031880.png)
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摘要
En 中文
We propose a novel concept for modular robots, termed modular fluidic propulsion (MFP), which promises to combine effective propulsion, a large reconfiguration space, and a scalable design. MFP robots are modular fluid networks. To propel, they route fluid through themselves. In this article, both hydraulic and pneumatic implementations are considered. The robots move towards a goal by way of a decentralized controller that runs independently on each module face, uses two bits of sensory information and requires neither run-time memory, nor communication. We prove that 2-D MFP robots reach the goal when of orthogonally convex shape, or reach a morphology-dependent distance from it when of arbitrary shape. We present a 2-D hydraulic MFP prototype and show, experimentally, that it succeeds in reaching the goal in at least 90% of trials, and that 71% less energy is expended when modules can communicate. Moreover, in simulations with 3-D hydraulic MFP robots, the decentralized controller performs almost as well as a state-of-the-art and centralized controller. Given the simplicity of the hardware requirements, the MFP concept could pave the way for modular robots to be used at sub-centimeter-scale, where effective modular propulsion systems have not been demonstrated.
Keyword:
Robots
Faces
Actuators
Robot kinematics
Propulsion
Force
Robot sensing systems
Distributed control
hydraulic propulsion
modular reconfigurable robots
pneumatic propulsion
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10.5
论文数:
3.4K
被引数:
3.1W
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