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Distributed Autonomous Robotic Systems 8 pp 453–461Cite as

Reconfigurable Modular Universal Unit (MUU) for Mobile Robots

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Abstract

A modular universal unit (MUU) implements Pitching, Yawing and Rolling DOF is presented in this paper. By connecting these MUUs in different forms, we can develop the 3D snake-like robot and other mobile robots. A series of passive rollers around the cylindrical aluminum shell of MUU form an actuating wheel for the omnidirectional mobile robot. The communication and replacement is feasible due to high integration of MUU. Two or more MUUs can be connected to make up mobile robots to move, which exhibits high mobility and agility of MUU. Some typical configurations of robot composed of these MUUs are presented. The kinematics and controllability of proposed robots are analyzed for self-reconfigurable commission. Some locomotion experiments are given to show characteristic of MUU.

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Author information

Authors and Affiliations

  1. State Key Laboratory on Robotics, Shenyang Institute of Automation, CAS, Nanta Street 114, 110016, Shenyang, China

    Shugen Ma, Changlong Ye, Bin Li & Yuechao Wang

  2. Department of Robotics, College of Science and Engineering, Ritsumeikan University, Shiga-ken, 525-8577, Japan

    Shugen Ma

  3. Shenyang Institute of Aeronautical Engineering, Daoyi Street 37, Shenyang, 110136, China

    Changlong Ye

  4. Harbin Institute of Technology, Xida Street 92, Harbin, 150001, China

    Shugen Ma & Changlong Ye

Authors
  1. Shugen Ma
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  2. Changlong Ye
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  3. Bin Li
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  4. Yuechao Wang
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Editor information

Editors and Affiliations

  1. RACE (Research into Artifacts, Center for Engineering), The University of Tokyo, Kashiwanoha 5-1-5, 277-8568, Kashiwa-shi, Chiba, Japan

    Hajime Asama

  2. Distributed System Design Research Group, National Institute of Advanced Industrial Science and Technology (AIST), 1-2-1 Namiki, Tsukuba, 305-8564, Ibaraki, Japan

    Haruhisa Kurokawa

  3. Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Tokyo, Japan

    Jun Ota

  4. Department of Micro-Nano Systems Engineering, Nagoya University, 464-8603, Nagoya, Japan

    Kosuke Sekiyama

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© 2009 Springer-Verlag Berlin Heidelberg

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Ma, S., Ye, C., Li, B., Wang, Y. (2009). Reconfigurable Modular Universal Unit (MUU) for Mobile Robots. In: Asama, H., Kurokawa, H., Ota, J., Sekiyama, K. (eds) Distributed Autonomous Robotic Systems 8. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00644-9_40

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  • DOI: https://doi.org/10.1007/978-3-642-00644-9_40

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-00643-2

  • Online ISBN: 978-3-642-00644-9

  • eBook Packages: EngineeringEngineering (R0)

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