Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Modular Robot Unit – Characterisation, Design and Realisation Elmar Dittrich Departement of Mechanical Engineering, Technical University Ilmenau, Germany 16th August 2004

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Survey – Modular Robotics 2.Hardware 3.Software 4.Experiments 5.Outlook Contents

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Survey Modular Robotics deals with:

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Survey M-TRAN II: Self-Reconfigurable Robot 1.1 M-TRAN II

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Survey M-TRAN II: Self-Reconfigurable Robot 1.1 M-TRAN II

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Survey 1.2 PARC `s Modular Robots Polybot: „Walk on the Wild Side“

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Survey Polybot: „Walk on the Wild Side“ 1.2 PARC `s Modular Robots

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Survey Telecube 1.2 PARC `s Modular Robots

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Survey CONRO: Hormone-Controlled Metamorphic Robot 1.3. CONRO

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Survey CONRO: Mormone-Controlled Metamorphic Robot 1.3. CONRO

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Survey The Crystalline Robot 1.4. Dartmouth Robotics Lab

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Survey The Molecule Robot 1.4. Dartmouth Robotics Lab

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Survey I-Cubes at Advanced Mechatronics Lab, CMU 1.5. I - Cubes

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Survey Fractum Fracta Atron (Hydra)

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Hardware Design Constraints: 1.off-the-shelf parts 2. « open & cheap» design 3.costs = 50 – 70 € per module 4.time = 5 month

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Hardware First Draft WormBot M-TRAN II

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Hardware Actuator: max. torque:73 Ncm max. speed:60°/0.16s working range:180° size:41x20x41 mm weight:58 g price:19.95 €

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Hardware Casing: c=50 a=45 b=95 (incl. U) a=ab=2ac=a

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Hardware Connection Mechanism: 1.power efficiency 2.reliability 3.compact 4.genderless + connection in any particular angle (mainly 45°)

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Hardware Final Design:

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Hardware Communication:

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Software /* Heads2Sides of the Middle*/ Control File: (example)

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Software JAVA-GUI : time step loop counter modulesdrawing board result board

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Experiments Servo Tests: staticdynamic

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Experiments Modules moving by itself:

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Experiments Two Modules:

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Experiments Three Modules:

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Experiments Four Modules:

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Experiments Five Modules:

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Experiments Six Modules:

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Outlook Prototype 2 : changing the size

Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne Outlook Prototype 2: Sensors Piezoelectric filmHELI-gyroscopeUltrasonic Range Finder

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Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne