Volume 7 Issue 4 • Dec. 2002
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The Conro modules for reconfigurable robots
Publication Year: 2002, Page(s):403 - 409
Cited by: Papers (118)The goal of the Conro Project is to build deployable modular robots that can reconfigure into different shapes such as snakes or hexapods. Each Conro module is, itself, a robot and hence a Conro robot is actually a multirobot system. In this paper we present an overview of the Conro modules, the design approach, an overview of the mechanical and electrical systems and a discussion on size versus p... View full abstract»
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Using role-based control to produce locomotion in chain-type self-reconfigurable robots
Publication Year: 2002, Page(s):410 - 417
Cited by: Papers (50)This paper presents a role-based approach to the problem of controlling locomotion of chain-type self-reconfigurable robots. In role-based control, all modules are controlled by identical controllers. Each controller consists of several playable roles and a role-selection mechanism. A role represents the motion of a module and how it synchronizes with connected modules. A controller selects which ... View full abstract»
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Distributed control for unit-compressible robots: goal-recognition, locomotion, and splitting
Publication Year: 2002, Page(s):418 - 430
Cited by: Papers (40)We present a distributed self-reconfiguring robot system with unit-compressible modules called the Crystal robot. A new design for the Crystal is presented that decouples the x axis and y axis actuation, has on-board sensing and has neighbor-to-neighbor communication. We also describe a suite of distributed control algorithms for this type of robot and associated experiments for each algorithm. Se... View full abstract»
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M-TRAN: self-reconfigurable modular robotic system
Publication Year: 2002, Page(s):431 - 441
Cited by: Papers (242) | Patents (1)In this paper, a novel robotic system called modular transformer (M-TRAN) is proposed. M-TRAN is a distributed, self-reconfigurable system composed of homogeneous robotic modules. The system can change its configuration by changing each module's position and connection. Each module is equipped with an onboard microprocessor, actuators, intermodule communication/power transmission devices and inter... View full abstract»
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Connecting and disconnecting for chain self-reconfiguration with PolyBot
Publication Year: 2002, Page(s):442 - 451
Cited by: Papers (87)Chain modular robots form systems with many degrees of freedom which are capable of being reconfigured to form arbitrary chain-based topologies. This reconfiguration requires the detaching of modules from one point in the system and reattaching at another. The internal errors in the system (especially with large numbers of modules) are such that accurate movement of chain ends, required for the at... View full abstract»
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Millibot trains for enhanced mobility
Publication Year: 2002, Page(s):452 - 461
Cited by: Papers (72) | Patents (6)The objective of this work is to enhance the mobility of small mobile robots by enabling them to link into a train configuration capable of crossing relatively large obstacles. In particular, we are building on Millibots, semiautonomous, tracked mobile sensing/communication platforms at the 5-cm scale previously developed at Carnegie Mellon University. The Millibot Train concept provides couplers ... View full abstract»
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Self-replicating robots for lunar development
Publication Year: 2002, Page(s):462 - 472
Cited by: Papers (29)In this paper, the concept of self-replicating robots (SRRs) is reviewed, and the feasibility of a particular kind of minimalistic SRR is analyzed in the context of lunar resource development. The key issue that will determine the feasibility of this approach is whether or not an autonomous robotic factory can be devised such that it is light enough to be transported to the moon, yet complete in i... View full abstract»
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Connectors for self-reconfiguring robots
Publication Year: 2002, Page(s):473 - 474
Cited by: Papers (15)Connectors for self-reconfiguring robots are difficult to design because of the wide range of requirements. We describe the DRAGON connector, whose most distinctive features are its ability to self-align and its strength-to-weight ratio. It weighs 170 g, but holds over 70-kg load. It is able to self-align ±15 mm (O/5) lateral offsets and ±45° directional and rotational offsets. I... View full abstract»
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Generalized software components for reconfiguring hyper-redundant manipulators
Publication Year: 2002, Page(s):475 - 478
Cited by: Papers (5)An application of Operational Software Components for Advanced Robotics (OSCAR) - a generalized robotic software framework - for kinematic control of hyper-redundant, self-reconfigurable systems is presented. OSCAR includes generalized kinematics, dynamics, device interfacing, and criteria-based decision making. The developed application allows an operator to interactively reconfigure modular chai... View full abstract»
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A model for voltage-to-displacement dynamics in piezoceramic actuators subject to dynamic-voltage excitations
Publication Year: 2002, Page(s):479 - 489
Cited by: Papers (96)A model that predicts the expansion of piezoceramic actuators when subject to dynamic-voltage excitations is developed as an extension of the classical Preisach model. The model is presented in a recursive form that is suitable for real-time implementation. The model uses measurements of the first-order reversal curves and the average rate of change of the input-voltage signal. The model is shown ... View full abstract»
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Pressure observer-controller design for pneumatic cylinder actuators
Publication Year: 2002, Page(s):490 - 499
Cited by: Papers (52) | Patents (1)Recent research has shown that robust and precise high-speed control of pneumatic actuators is practicable, by application of advanced control techniques such as model-based adaptive and sliding-mode control. However, the resulting need for full state-based feedback and feedforward control-in particular, the measurement of air pressures-increases both the cost and complexity of the overall system.... View full abstract»
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Performance tuning of robust motion controllers for high-accuracy positioning systems
Publication Year: 2002, Page(s):500 - 514
Cited by: Papers (18)This paper presents a structural design method of robust motion controllers for high-accuracy positioning systems, which makes it possible to tune the performance of the whole closed-loop system systematically. First, a stabilizing control input is designed based on Lyapunov redesign for the system in the presence of uncertainty and disturbance. And adopting the internal model following control, r... View full abstract»
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Local structurization kinematic decoupling of six-leg virtual-axis NC machine tool
Publication Year: 2002, Page(s):515 - 518
Cited by: Papers (4)Decoupling is always a difficult problem in the field of virtual-axis numerical control (NC) machine servocontrol. In this paper, the idea of local structurization method is combined with the theory of decoupling. A new decoupling method, local structurization decoupling method, is proposed first. Jacobian matrix is decomposed into two matrices-translation matrix and rotation matrix. So decoupling... View full abstract»
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A digital miniature pump for medical applications
Publication Year: 2002, Page(s):519 - 523
Cited by: Papers (10) | Patents (1)This paper describes the principle, design, control and performance of a novel miniature linear peristaltic pump. Exhibiting dual and bi-directional feed capabilities that allow the simultaneous pumping of two distinct fluids at measured and precise flow rate, the pump consists of two resilient tubes and two directly actuated pumping units. Both of the two flexible tubes are placed in the pumping ... View full abstract»
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Author index
Publication Year: 2002, Page(s):524 - 526|
PDF (185 KB)
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Subject index
Publication Year: 2002, Page(s):526 - 533|
PDF (210 KB)
Aims & Scope
IEEE/ASME Transactions on Mechatronics encompasses all practical aspects of the theory and methods of mechatronics, the synergetic integration of mechanical engineering with electronic and intelligent computer control in the design and manufacture of industrial products and processes.
Meet Our Editors
Editor-in-Chief
George Chiu
Purdue University
West Lafayette, IN USA
gchiu@purdue.edu