1. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 1 Modular Robot Unit – Characterisation, Design and Realisation Elmar Dittrich Departement of Mechanical Engineering, Technical University Ilmenau, Germany 16th August 2004

2. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 2 1.Survey – Modular Robotics 2.Hardware 3.Software 4.Experiments 5.Outlook Contents

3. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 3 1. Survey Modular Robotics deals with:

4. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 4 1. Survey M-TRAN II: Self-Reconfigurable Robot 1.1 M-TRAN II

5. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 5 1. Survey M-TRAN II: Self-Reconfigurable Robot 1.1 M-TRAN II http://unit.aist.go.jp/is/dsysd/mtran/English/index.html

6. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 6 1. Survey 1.2 PARC `s Modular Robots Polybot: „Walk on the Wild Side“

7. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 7 1. Survey Polybot: „Walk on the Wild Side“ 1.2 PARC `s Modular Robots

8. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 8 1. Survey Telecube 1.2 PARC `s Modular Robots

9. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 9 1. Survey CONRO: Hormone-Controlled Metamorphic Robot 1.3. CONRO

10. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 10 1. Survey CONRO: Mormone-Controlled Metamorphic Robot 1.3. CONRO

11. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 11 1. Survey The Crystalline Robot 1.4. Dartmouth Robotics Lab

12. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 12 1. Survey The Molecule Robot 1.4. Dartmouth Robotics Lab

13. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 13 1. Survey I-Cubes at Advanced Mechatronics Lab, CMU 1.5. I - Cubes

14. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 14 1. Survey Fractum Fracta Atron (Hydra)

15. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 15 2. Hardware Design Constraints: 1.off-the-shelf parts 2. « open & cheap» design 3.costs = 50 – 70 € per module 4.time = 5 month

16. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 16 2. Hardware First Draft WormBot M-TRAN II

17. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 17 2. Hardware Actuator: max. torque:73 Ncm max. speed:60°/0.16s working range:180° size:41x20x41 mm weight:58 g price:19.95 €

18. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 18 2. Hardware Casing: c=50 a=45 b=95 (incl. U) a=ab=2ac=a

19. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 19 2. Hardware Connection Mechanism: 1.power efficiency 2.reliability 3.compact 4.genderless + connection in any particular angle (mainly 45°)

20. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 20 2. Hardware Final Design:

21. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 21 2. Hardware Communication:

22. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 22 3. Software /* Heads2Sides of the Middle*/ 1 5 3 200 1.0 1 30 0 0 0 20 45 70 1 1.0 Control File: (example)

23. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 23 3. Software JAVA-GUI : time step loop counter modulesdrawing board result board

24. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 24 4. Experiments Servo Tests: staticdynamic

25. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 25 4. Experiments Modules moving by itself:

26. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 26 4. Experiments Two Modules:

27. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 27 4. Experiments Three Modules:

28. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 28 4. Experiments Four Modules:

29. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 29 4. Experiments Five Modules:

30. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 30 4. Experiments Six Modules:

31. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 31 5. Outlook Prototype 2 : changing the size

32. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 32 5. Outlook Prototype 2: Sensors Piezoelectric filmHELI-gyroscopeUltrasonic Range Finder

33. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 33 Merci pour votre attention ! http://birg.epfl.ch/page50163.html All videos under:

34. Elmar DittrichBIRG - Swiss Federal Institute of Technology, Lausanne 2004 34