Skip to main content
SpringerLink
Log in

Mobility Hierarchy and Simulation of a Modular, Reconfigurable, Tetrahedral Robot System

  • Conference paper
  • First Online:
Robot Intelligence Technology and Applications 6 (RiTA 2021)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 429))

  • 1278 Accesses

Abstract

Three dimensional modular robots are notoriously complicated to design and control. In order to make use of such a system for observation and experimentation, we have created a simulation of numerous identical tetrahedral robot modules. This paper describes the construction and physical rules surrounding the single structures as well as how one unit combines with others to create a composite. Various “small” group capabilities are discussed as well as an overview of how the simulation handles larger structures. Finally, an experimental comparison is presented where the system is used for testing the performance of these modular robots in the presence of an obstacle.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 189.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 249.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Yim, M.: A reconfigurable modular robot with multiple modes of locomotion. In: Proceedings of the JSME Conference on Advanced Mechatronics (1993)

    Google Scholar 

  2. Driesen, W., Rida, A., Breguet, J.-M., Clavel, R.: Friction based locomotion module for mobile MEMS robots. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3815–3820 (2007)

    Google Scholar 

  3. Park, C., Bae, J., Ryu, S., Lee, J., Seo, T.: R-track: separable modular climbing robot design for wall-to-wall transition. IEEE Robot. Automat. Lett. 6(2), 1036–1042 (2020)

    Article  Google Scholar 

  4. Swissler, P., Rubinstein, M.: FireAnt3D: a 3D self-climbing robot towards non-latticed robotic self-assembly. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3340–3347 (2020)

    Google Scholar 

  5. Chen, Y.M., Cappelleri, D.: Exploration of mobility modes arising from the breakdown of a basic regular tetrahedron. In: Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, vol. 45035, pp. 627–636 (2012)

    Google Scholar 

  6. Chen, Y.M., Cappelleri, D.: Design and build methods for a variable radius wheel mechanism. In: Proceedings of the ASME International Mechanical Engineering Congress and Exposition, vol. 45202, pp. 329-336 (2012)

    Google Scholar 

  7. Gerbl, M., Gerstmayr, J.: Self-reconfiguration planning of adaptive modular robots with triangular structure based on extended binary trees. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3312-3319 (2020)

    Google Scholar 

  8. Rubenstein, M., Ahler, C., Nagpal, R.: Kilobot: a low cost scalable robot system for collective behaviors. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3293–3298 (2012)

    Google Scholar 

  9. Haas, J.: A history of the unity game engine. Thesis, Worcester Polytechnic Institute (2014)

    Google Scholar 

  10. Hong, D., Laney, D.: Preliminary design and kinematic analysis of a mobility platform with two actuated spoke wheels. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (2005)

    Google Scholar 

  11. Morazzani, I., Hong, D., Lahr, D., Ren, P.: Novel tripedal mobile robot and considerations for gait planning strategies based on kinematics. In: Recent Progress in Robotics: Viable Robotic Service to Human, pp. 35–48 (2007)

    Google Scholar 

  12. Agrawal, S.K., Yan, J.: A three-wheel vehicle with expanding wheels: Differential flatness, trajectory planning, and control. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 1450–1455 (2003)

    Google Scholar 

  13. Yan, J., Agrawal, S.K.: Rimless wheel with radially expanding spokes: dynamics, impact, and stable gait. In: Proceedings of the IEEE International Conference on Robotics and Automation, vol. 4, pp. 3240–3244 (2004)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Stevens Institute of Technology Castle Point on Hudson, Hoboken, NJ, 07030, USA

    Yin M. Chen & Brendan Englot

Authors
  1. Yin M. Chen
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Brendan Englot
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Brendan Englot .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea (Republic of)

    Jinwhan Kim

  2. Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA

    Brendan Englot

  3. Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea (Republic of)

    Hae-Won Park

  4. Aerospace Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea (Republic of)

    Han-Lim Choi

  5. Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea (Republic of)

    Hyun Myung

  6. School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea (Republic of)

    Junmo Kim

  7. School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea (Republic of)

    Jong-Hwan Kim

Rights and permissions

Reprints and permissions

Copyright information

© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Chen, Y.M., Englot, B. (2022). Mobility Hierarchy and Simulation of a Modular, Reconfigurable, Tetrahedral Robot System. In: Kim, J., et al. Robot Intelligence Technology and Applications 6. RiTA 2021. Lecture Notes in Networks and Systems, vol 429. Springer, Cham. https://doi.org/10.1007/978-3-030-97672-9_12

Download citation

Publish with us

Policies and ethics

Search

Navigation