| Partner: B. Piranda |
Recent publications
| 1. | Piranda B.♦, Chodkiewicz P.♦, Hołobut P., Bordas S.P.A.♦, Bourgeois J.♦, Lengiewicz J., Distributed prediction of unsafe reconfiguration scenarios of modular robotic programmable matter, IEEE TRANSACTIONS ON ROBOTICS, ISSN: 1552-3098, DOI: 10.1109/TRO.2021.3074085, Vol.37, No.6, pp.2226-2233, 2021 Abstract: We present a distributed framework for predicting whether a planned reconfiguration step of a modular robot will mechanically overload the structure, causing it to break or lose stability under its own weight. The algorithm is executed by the modular robot itself and based on a distributed iterative solution of mechanical equilibrium equations derived from a simplified model of the robot. The model treats intermodular connections as beams and assumes no-sliding contact between the modules and the ground. We also provide a procedure for simplified instability detection. The algorithm is verified in the Programmable Matter simulator VisibleSim, and in real-life experiments on the modular robotic system Blinky Blocks. Keywords:distributed algorithms, modular robots, mechanical constraints, programmable matter, self-reconfiguration Affiliations:
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Conference abstracts
| 1. | Piranda B.♦, Chodkiewicz P.♦, Hołobut P., Bordas S.♦, Bourgeois J.♦, Lengiewicz J., MODULAR ROBOTS AS DISTRIBUTED COMPUTERS OF THEIR OWN MECHANICAL STATE, CMM-SolMech 2022, 24th International Conference on Computer Methods in Mechanics; 42nd Solid Mechanics Conference, 2022-09-05/09-08, Świnoujście (PL), No.134, pp.1-1, 2022 | | ||||||||||||||||||
| 2. | Piranda B.♦, Chodkiewicz P.♦, Hołobut P., Bordas S.♦, Bourgeois J.♦, Lengiewicz J., Distributed prediction of mechanically unsafe configurations by a system of robotic blocks, ICTAM2021, 25th International Congress of Theoretical and Applied Mechanics, 2021-08-22/08-27, Mediolan (virtual) (IT), No.0108761, pp.2413-2414, 2021 Abstract: Summary We present a computational scheme for predicting whether addition of new modules to an existing modular robotic structure will mechanically overload the system, causing it to break or lose stability. The algorithm is executed by the modular robot itself in a distributed way, and relies on the iterative solution of mechanical equilibrium equations derived from a simple Finite Element model of the robot. In the model, inter-modular connections are represented as beams and the contact between modules and external supports is accounted for by a predictor-corrector scheme. The algorithm is verified through simulations in the Programmable Matter simulator VisibleSim and real-life experiments on the modular robotic system Blinky Blocks. Affiliations:
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