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A distributed modular self-reconfiguring robotic platform based on simplified electro-permanent magnets

Li Zhu 1
1 LAAS-CDA - Équipe Calcul Distribué et Asynchronisme
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : A distributed modular self-reconfiguring robotic (MSRR) system is composed of many repeated basic modules with certain functions of motion, perception, and actuation. They can adapt to environment and goals by connecting and disconnecting to achieve the desired configuration and shape. MSRRs often contain two hardware systems: one is for actuation (motion), another one is for connection. At present time many institutions work on MSRRs; structural design, miniaturization, energy saving, control algorithms have been the focus of research in this area. However, only a few of them work on both the hardware and the corresponding algorithms. This thesis describes the design, fabrication, experimental results, distributed algorithm, and simulator of a MSRR platform. Via theoretical calculation and numerical simulation, we present the simplified electro-permanent (SEP) magnet which can change the magnetic field direction and does not require energy consumption while connected. A new concept of linear motor based on SEP is proposed. Then we construct DILI, a cubical MSRR, the length of each module is 1.5cm. DILI module can slide on a flat surface; the maximum speed can reach 20mm/s. With the new actuator, DILI can achieve the functions of motion and connection with only one system inside. Finally, a distributed algorithm is proposed in order to build a smart conveyor, and a simulator is designed that permits one to perform distributed simulations, test and validate distributed algorithms.
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Submitted on : Wednesday, July 4, 2018 - 2:25:49 PM
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  • HAL Id : tel-01829962, version 1


Li Zhu. A distributed modular self-reconfiguring robotic platform based on simplified electro-permanent magnets. Networking and Internet Architecture [cs.NI]. Universite Toulouse 3 Paul Sabatier (UT3 Paul Sabatier), 2018. English. ⟨tel-01829962⟩



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