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Modular Fluidic Propulsion Robots
IEEE Transactions on Robotics ( IF 7.8 ) Pub Date : 2020-12-24 , DOI: 10.1109/tro.2020.3031880
Matthew J. Doyle 1 , Joao V. Amorim Marques 1 , Isaac Vandermeulen 2 , Christopher Parrott 1 , Yue Gu 1 , Xinyu Xu 1 , Andreas Kolling 3 , Roderich Gros 1
Affiliation  

We propose a novel concept for modular robots, termed modular fluidic propulsion (MFP), which promises to combine effective propulsion, a large reconfiguration space, and a scalable design. MFP robots are modular fluid networks. To propel, they route fluid through themselves. In this article, both hydraulic and pneumatic implementations are considered. The robots move towards a goal by way of a decentralized controller that runs independently on each module face, uses two bits of sensory information and requires neither run-time memory, nor communication. We prove that 2-D MFP robots reach the goal when of orthogonally convex shape, or reach a morphology-dependent distance from it when of arbitrary shape. We present a 2-D hydraulic MFP prototype and show, experimentally, that it succeeds in reaching the goal in at least 90% of trials, and that 71% less energy is expended when modules can communicate. Moreover, in simulations with 3-D hydraulic MFP robots, the decentralized controller performs almost as well as a state-of-the-art and centralized controller. Given the simplicity of the hardware requirements, the MFP concept could pave the way for modular robots to be used at sub-centimeter-scale, where effective modular propulsion systems have not been demonstrated.

中文翻译:

模块化流体推进机器人

我们为模块化机器人提出了一种新颖的概念,称为模块化流体推进(MFP),它有望结合有效的推进力,较大的重新配置空间和可扩展的设计。MFP机械手是模块化流体网络。为了推动,它们使流体通过自身。在本文中,考虑了液压和气动两种实施方式。机器人通过分散的控制器向目标迈进,该分散的控制器在每个模块面上独立运行,使用两位传感信息,并且不需要运行时内存或通信。我们证明了二维MFP机器人在正交凸形时达到目标,或者在任意形状时达到与形态相关的距离。我们展示了一种二维液压MFP原型,并通过实验证明了它在至少90%的试验中均成功达到了目标,并且当模块可以通信时,能源消耗减少了71%。此外,在使用3-D液压MFP机器人进行的仿真中,分散式控制器的性能几乎与最新的集中式控制器一样好。鉴于硬件要求的简单性,MFP概念可以为模块化机器人在低于厘米级的规模使用铺平道路,在这种情况下,尚未展示出有效的模块化推进系统。
更新日期:2020-12-24
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