Authors:
Weibing Li
;
Robert Richardson
and
Jongrae Kim
Affiliation:
University of Leeds, United Kingdom
Keyword(s):
Modular Robots, Rigid Nodes, Central Pattern Generators, Distributed Control, Physics-based Simulation.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mechatronics Systems
;
Mobile Robots and Autonomous Systems
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
This paper proposes a novel way of constructing strut-type modular robotic structures to avoid some diffi-
culties of designing and implementing ideal compliant nodes. Rigid nodes are employed to replace the ideal
compliant nodes and to reduce the structural complexity while the feasibility of hardware implementation
is dramatically improved. To release some kinematic constraints caused by the rigid nodes, we introduce
robotic struts that consist of two prismatic actuators linked by a passive revolute joint. Physics-based robot
models are constructed using a robot simulator. A scalable distributed control method is implemented using
coupled central pattern generators. And, for comparison, the same control method is applied to conventional
and the proposed strut-type modular robotic structures. Simulation results show that the proposed strut-type
structures have several advantages over the conventional ones including less number of passive joints and
shape-maintenance property.