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An active connection mechanism for modular self-reconfigurable robotic systems based on physical latching

2008

Conference Paper

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This article presents a robust and heavy duty physical latching connection mechanism, which can be actuated with DC motors to actively connect and disconnect modular robot units. The special requirements include a lightweight and simple construction providing an active, strong, hermaphrodite, completely retractable connection mechanism with a 90 degree symmetry and a no-energy consumption in the locked state. The mechanism volume is kept small to fit multiple copies into a single modular robot unit and to be used on as many faces of the robot unit as possible. This way several different lattice like modular robot structures are possible. The large selection for dock-able connection positions will likely simplify self-reconfiguration strategies. Tests with the implemented mechanism demonstrate its applicative potential for self-reconfiguring modular robots.

Author(s): Spröwitz, Alexander and Asadpour, Masoud and Bourquin, Yvan and Ijspeert, Auke Jan
Book Title: Proceedings on the 2008 IEEE International Conference on Robotics and Automation (ICRA), 2008
Pages: 3508--3513
Year: 2008
Publisher: IEEE

Department(s): Dynamic Locomotion
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/ROBOT.2008.4543747

Address: Pasadena, CA

BibTex

@inproceedings{escidoc:2316393,
  title = {An active connection mechanism for modular self-reconfigurable robotic systems based on physical latching},
  author = {Spr{\"o}witz, Alexander and Asadpour, Masoud and Bourquin, Yvan and Ijspeert, Auke Jan},
  booktitle = {Proceedings on the 2008 IEEE International Conference on Robotics and Automation (ICRA), 2008},
  pages = {3508--3513},
  publisher = {IEEE},
  address = {Pasadena, CA},
  year = {2008}
}