Abstract
The paper introduces a concept of flexible self-reconfiguration that makes use of thermoplastic adhesives (TPAs) in robotic systems. TPAs are polymer based materials that exhibit several interesting mechanical properties beneficial for self-reconfiguration. For example, thermoplasticity enables robots to flexibly fabricate a number of different mechanical structures, while temperature-dependent adhesion allows systems to make robust connection and disconnection. This paper introduces robotic self-reconfiguration by using three TPA handling processes, i.e. structure formation, connection and disconnection. These processes are then examined in a few practical application scenarios, i.e. pick and place operations of a variety of objects, autonomous body extension of robotic manipulators, and robots climbing on uneven surfaces. And finally we discusses challenges and perspectives of this approach.
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Iida, F., Wang, L., Brodbeck, L. (2014). Flexible Self-reconfigurable Robots Based on Thermoplastic Adhesives. In: Ani Hsieh, M., Chirikjian, G. (eds) Distributed Autonomous Robotic Systems. Springer Tracts in Advanced Robotics, vol 104. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-55146-8_14
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DOI: https://doi.org/10.1007/978-3-642-55146-8_14
Publisher Name: Springer, Berlin, Heidelberg
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