Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 17 of 17 for “"modular robot"”.
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An improved reliability assessment of a modular robot controller
Modular industrial robot systems are well suited for high performance-accuracy, repeatability and speed, or shorter cycle times. Additionally, modular architecture supports flexibility. Modular robot systems are easily adaptable to a wide range of customer applications. A third characteristic of …
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Morpho : a self-deformable modular robot inspired by cellular structure
In this paper, we present a modular robot design inspired by the creation of complex structures and functions in biology via deformation. Our design is based on the Tensegrity model of cellular structure, where active filaments within the cell contract and expand to control individual cell shape, …
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Let's make robots! : automated co-generation of electromechanical devices from user specifications using a modular robot library
Personalized on-demand robots have a vast potential to impact daily life and change how people interact with technology, but so far this potential has remained largely untapped. Building robots is typically restricted to experts due to the extensive knowledge, experience, and resources required. …
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An autonomous self-reconfigurable modular robotic system with optimised docking connectors
Self-Reconfigurable Modular Robots are robotic systems consisting of a number of self-contained modules that can autonomously interconnect in different positions and orientations thereby varying the shape and size of the overall modular robot. This ground breaking capability is what in theory, …
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Distributed reinforcement learning for self-reconfiguring modular robots
… control for groups of cooperating, coupled robots. Specifically, we develop a framework and algorithms for automatically generating distributed controllers for self-reconfiguring modular robots using reinforcement learning. The promise of self-reconfiguring modular robots is that of …
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Design of programmable matter
… like paintable displays, shape-changing robots and tools, rapid prototyping, and sculpture-based haptic interfaces. Programmable matter would be composed of millimeter-scale autonomous microsystem particles, without internal moving parts, bound by electromagnetic forces or an adhesive …
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High-Dimensional Design Evaluations For Self-Aligning Geometries
… geometry aid in the docking process for many robotic and automatic control systems such as robotic self-reconfiguration and air-to-air refueling. This self-aligning geometry provides a wider range of acceptable error tolerance in relative pose between the two rigid objects, increasing …
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M-Blocks : three dimensional modular self-reconfigurable robots
… details the development of the 3D M-Blocks modular robot system. Modular self-reconfigurable robots (MSRR) are robotic systems which contain many modules that can form and break connections with other modules, and move on a lattice of other modules in order to form different configurations. …
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Configuration Recognition, Communication Fault Tolerance and Self-reassembly for the CKBot
… of control, autonomy and reliability for modular robotic systems. In particular, we demonstrate configuration recognition, distributed communication fault tolerance, and the organization and control of self-reassembly with the Connector Kinetic roBot (CKBot). The primary contribution of …
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Function Follows Form: An Exploration of Robotic Embodiment through Geometry
Current robot designers often treat a robot’s body as merely a vessel to transport the brain, limiting the potential scope of “embodied intelligence” that is unique to robotics. This cognitivist approach to robot design is in-line with critiques from disability studies, which argues that assuming a …
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Advancing Tendon-Driven Robotic Systems: From Climbing Robots to String Actuators
… mechanisms provide a range of benefits for robotic systems, particularly by allowing actuators to be mounted at the base of a manipulator and reducing its inertia. This thesis explores two projects that exploit and advance tendon-driven mechanisms: a wheeled-grasping hybrid climbing robot …
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Geometric algorithms for reconfigurable structures
… an algorithmic framework for reconfiguring a modular robot consisting of identical 2D tiles, where the basic move is to pivot one tile around another at a shared vertex. The robot must remain connected and avoid collisions throughout all moves. For square tiles, and hexagonal tiles on either a …
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Underwater Robotic Propulsors Inspired by Jetting Jellyfish
… Chapter 2, a free-swimming jellyfish-inspired robot (named JetPRo) was developed (also utilizing an iris diaphragm) in Chapter 3 and characterized for relevant propulsive metrics. A combination of theoretical modeling and experimental analysis was used to optimize the JetPRo's gait for maximum …
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Design of a process to create PAPRAS (Plug-And-Play Robotic Arm System) applications
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2024-08-01
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Towards bio-transcending legged robots: Design and development of novel robotic platforms for enhanced locomotion
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2025-12-01
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Design and control of an origami-enabled soft crawling autonomous robot (OSCAR)
Soft mobile robots offer unique benefits as they are highly adaptable to the terrain of travel and safe for interaction with humans. However, the lack of autonomy currently limits their practical applications. Autonomous navigation has been well studied for conventional rigid-bodied robots; …
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Design and control of intelligent heterogeneous multi-configurable chained microrobotic modular systems
… Heterogeneous Multi-configurable Chained Microrobotic Modular Systems”. That is, the development of modular microrobots composed of different types of modules able to perform different types of movements (gaits), that can have different (chained) configurations depending on the task to perform. …