Paper Info
Title
Development of a genderless and fail-safe connection system for autonomous modular robots.
Abstract
One of the most challenging tasks on developing hardware of modular robots is to design a reliable and flexible connection system. This paper presents the design and implementation of a GENderless and FAil-safe (GENFA) connection system for autonomous modular robots that possesses self-assembly, self-reconfiguration and self-healing capabilities. By using the GENFA connector, a group of autonomous modular robots can assemble into a single robotic organism. With robust mechanical and electrical connection, a single robotic organism can disassemble into a set of disconnected units. In this paper, the detailed design of a connection system is presented. Then, mechanical strength and misalignment tolerance are studied theoretically. Some experimental tests are conducted with miniature mobile robots, and some experimental results show that the GENFA connection system is power efficient, fail-safe, and has limited misalignment tolerance. © 2011 IEEE.
Year
DOI
Venue
2011
10.1109/ROBIO.2011.6181398
ROBIO
Keywords
Field
DocType
self assembly,mobile robot,gears,organisms,mobile robots,power efficiency
Mechanical strength,Social robot,Robot control,Control engineering,Fail-safe,Electrical connection,Self-reconfiguring modular robot,Cable gland,Engineering,Mobile robot,Embedded system
Conference
Volume
Issue
Citations 
null
null
2
PageRank 
References 
Authors
0.38
7
3
Name
Order
Citations
PageRank
Guoqiang Fu13029.70
Arianna Menciassi2768138.57
Paolo Dario32017339.00