Paper Info
Title
Towards a Scalable, Self-Reconfigurable Robot with Compliant Modules
Abstract
We present a planar, self-reconfigurable modular robot with onboard processing, sensing, communication, and passive components for actuation. Modules consist primarily of a flexible printed circuit board rolled in a loop that is populated with all electronic components and 12 simplified electro-permanent magnets for mobility and communication. The flexible PCB eases assembly and introduces compliance for safe interaction with external objects and other modules, as well as configuration of large scale lattice configurations beyond what the manufacturing tolerances allow. This thrust towards scalable robots composed of passively compliant modules is an important step in addressing the grand challenges of mechanical wear and error tolerance in large-scale collectives.
Year
DOI
Venue
2019
10.1109/MRS.2019.8901063
2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)
Keywords
Field
DocType
scale lattice configurations,manufacturing tolerances,scalable robots,passively compliant modules,mechanical wear,error tolerance,self-reconfigurable modular robot,onboard processing,passive components,flexible printed circuit board,electronic components,flexible PCB eases assembly,electro-permanent magnets
Computer science,Magnet,Flexible electronics,Planar,Modular design,Computer hardware,Electronic component,Robot,Thrust,Scalability
Conference
ISBN
Citations 
PageRank 
978-1-7281-2877-1
0
0.34
References 
Authors
4
6
Name
Order
Citations
PageRank
Steven Ceron112.09
Logan Horowitz211.07
Nialah Wilson300.68
Claire Chen400.34
Daniel Kim500.34
Kirstin Petersen664.94