Related papers: BEATLE -- Self-Reconfigurable Aerial Robot: Design…
Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various…
Modular Aerial Robotic Systems (MARS) consist of multiple drone units assembled into a single, integrated rigid flying platform. With inherent redundancy, MARS can self-reconfigure into different configurations to mitigate rotor or unit…
Multirotor aerial robots excel at maneuvering in three-dimensional space, and recent advances enable nimble navigation in cluttered and confined environments, especially for small airframes. By contrast, platforms built for high-altitude…
Deploying large, complex space structures is of great interest to the modern scientific world as it can provide new capabilities in obtaining scientific, communicative, and observational information. However, many theoretical mission…
For lattice modular self-reconfigurable robots (MSRRs), maintaining stable connections during reconfiguration is crucial for physical feasibility and deployability. This letter presents a novel self-reconfiguration planning algorithm for…
Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault-tolerant control methods exhibit significant oscillations…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
Modular Aerial Robot Systems (MARS) consist of multiple drone modules that are physically bound together to form a single structure for flight. Exploiting structural redundancy, MARS can be reconfigured into different formations to mitigate…
As access to space and robotic autonomy capabilities move forward, there is simultaneously a growing interest in deploying large, complex space structures to provide new on-orbit capabilities. New space-borne observatories, large orbital…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…
Self-assembly enables multi-robot systems to merge diverse capabilities and accomplish tasks beyond the reach of individual robots. Incorporating varied docking mechanisms layouts (DMLs) can enhance robot versatility or reduce costs.…
We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…
Reconfigurable robot swarms are capable of connecting with each other to form complex structures. Current mechanical or magnetic connection mechanisms can be complicated to manufacture, consume high power, have a limited load-bearing…
This paper presents the development of a wearable ankle rehabilitation robot based on a 3-RRR spherical parallel mechanism (SPM) to support multi-DOF recovery through pitch, roll, and yaw motions. The system features a compact, ergonomic…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…
In some high-precision industrial applications, robots are deployed to perform precision assembly tasks on mass batches of manufactured pegs and holes. If the peg and hole are designed with transition fit, machining errors may lead to…
Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…