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A Review of Current Approaches to Configuration Detection in Modular Legged Robots

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Robotics in Natural Settings (CLAWAR 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 530))

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Abstract

In this paper, we review monolithic and reconfigurable modular robotic systems, focusing on configuration detection and legged locomotion. The focus of the review lies on the realization of a robotic system consisting of autonomous robotic legs with integrated PC and power units and grants a specialized look at embodiment for such robots. We further dissect the challenges of disembodied modular legged systems and propose how they may be realized using configuration detection. This is necessary in case the configuration as well as the payload is unknown to the robot. Using the state of the art approaches, we propose a approach for the realization of a modular disembodied legged robot consisting of a list of methods focussing on individual issues in the realization of such autonomous legs. We close with an outlook on future challenges for such a system and what research fields will need to be exploited.

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Notes

  1. 1.

    In the case of monolithic robots, we will speak of topology detection rather than configuration detection, since they are not reconfigurable.

  2. 2.

    Swarm robotics are also seen in heterogeneous MRS (Fig. 2). Because the leg modules are homogeneous, however, we do not include heterogeneous swarms in our review.

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Author information

Authors and Affiliations

  1. FZI Research Center for Information Technology, Karlsruhe, Germany

    Timothee Buettner, Arne Roennau & Ruediger Dillmann

  2. KIT Karlsruhe Institute of Technology, Karlsruhe, Germany

    Olivia Schwertfeger

Authors
  1. Timothee Buettner
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  2. Olivia Schwertfeger
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  3. Arne Roennau
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  4. Ruediger Dillmann
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Corresponding author

Correspondence to Timothee Buettner .

Editor information

Editors and Affiliations

  1. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    José M. Cascalho

  2. School of Engineering, London South Bank University, London, UK

    Mohammad Osman Tokhi

  3. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  4. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    Armando Mendes

  5. Mechanical, Materials and Manufacturing Engineering (M3), Faculty of Engineering, University of Nottingham, Nottingham, UK

    Khaled Goher

  6. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    Matthias Funk

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Buettner, T., Schwertfeger, O., Roennau, A., Dillmann, R. (2023). A Review of Current Approaches to Configuration Detection in Modular Legged Robots. In: Cascalho, J.M., Tokhi, M.O., Silva, M.F., Mendes, A., Goher, K., Funk, M. (eds) Robotics in Natural Settings. CLAWAR 2022. Lecture Notes in Networks and Systems, vol 530. Springer, Cham. https://doi.org/10.1007/978-3-031-15226-9_18

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