article

Design of the ATRON lattice-based self-reconfigurable robot

Authors:

Esben Hallundbæk Østergaard,

Kristian Kassow,

Richard Beck,

Henrik Hautop LundAuthors Info & Claims

Autonomous Robots, Volume 21, Issue 2

Pages 165 - 183

https://doi.org/10.1007/s10514-006-8546-1

Published: 01 September 2006 Publication History

Abstract

Self-reconfigurable robots are robots that can change their shape in order to better suit their given task in their immediate environment. Related work on around fifteen such robots is presented, compared and discussed. Based on this survey, design considerations leading to a novel design for a self-reconfigurable robot, called "ATRON", is described. The ATRON robot is a lattice-based self-reconfigurable robot with modules composed of two hemispheres joined by a single revolute joint. Mechanical design and resulting system properties are described and discussed, based on FEM analyses as well as real-world experiments. It is concluded that the ATRON design is both competent and novel. Even though the ATRON modules are minimalistic, in the sense that they have only one actuated degree of freedom, the collective of modules is capable of self-reconfiguring in three dimensions. Also, a question is raised on how to compare and evaluate designs for self-reconfigurable robots, with a focus on lattice-based systems.

Cited By

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Bassil JPiranda BMakhoul ABourgeois J(2024)ASAPs: asynchronous hybrid self-reconfiguration algorithm for porous modular robotic structuresAutonomous Robots10.1007/s10514-024-10171-748:7Online publication date: 22-Aug-2024
https://dl.acm.org/doi/10.1007/s10514-024-10171-7
Pruszko LGu HBourgeois JLaurillau YCoutrix C(2023)Modular Tangible User Interfaces: Impact of Module Shape and Bonding Strength on InteractionProceedings of the Seventeenth International Conference on Tangible, Embedded, and Embodied Interaction10.1145/3569009.3572731(1-15)Online publication date: 26-Feb-2023
https://dl.acm.org/doi/10.1145/3569009.3572731
Gerbl MGerstmayr J(2023)Self-reconfiguration of PARTSRobotics and Autonomous Systems10.1016/j.robot.2023.104417164:COnline publication date: 1-Jun-2023
https://dl.acm.org/doi/10.1016/j.robot.2023.104417
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Index Terms

Design of the ATRON lattice-based self-reconfigurable robot
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic autonomy
      2. Robotic components
  2. Real-time systems
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
      1. Motion path planning

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Reviews

Reviewer: Joan Catherine Horvath

Can you build a modular robot that configures itself to other shapes__?__ And if you do, how rapidly does the complexity of the modules making up the robot increase__?__ This survey paper covers a variety of attempts to answer those questions, primarily by using modules connected together in a lattice. The paper does a good job of walking through the issues of design that arise in creating systems of interlocking machines that need to smoothly work together for a greater purpose. The authors review their own down-to-earth prototyping using Legos and similar materials. The complexity of the modules and the overall system can rise quickly, but can lead to some intriguing adaptive behaviors of the overall system. Some possible configurations are illustrated at the end of the paper. The authors clearly explain the terminology and go to some length to put their device in the context of other work in the field. A lengthy reference list rounds out this helpful survey of the state of the art in reconfigurable robots. Online Computing Reviews Service

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Information

Published In

Autonomous Robots Volume 21, Issue 2

September 2006

79 pages

ISSN:0929-5593

Issue’s Table of Contents

Publisher

Kluwer Academic Publishers

United States

Publication History

Published: 01 September 2006

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Cited By

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Bassil JPiranda BMakhoul ABourgeois J(2024)ASAPs: asynchronous hybrid self-reconfiguration algorithm for porous modular robotic structuresAutonomous Robots10.1007/s10514-024-10171-748:7Online publication date: 22-Aug-2024
https://dl.acm.org/doi/10.1007/s10514-024-10171-7
Pruszko LGu HBourgeois JLaurillau YCoutrix C(2023)Modular Tangible User Interfaces: Impact of Module Shape and Bonding Strength on InteractionProceedings of the Seventeenth International Conference on Tangible, Embedded, and Embodied Interaction10.1145/3569009.3572731(1-15)Online publication date: 26-Feb-2023
https://dl.acm.org/doi/10.1145/3569009.3572731
Gerbl MGerstmayr J(2023)Self-reconfiguration of PARTSRobotics and Autonomous Systems10.1016/j.robot.2023.104417164:COnline publication date: 1-Jun-2023
https://dl.acm.org/doi/10.1016/j.robot.2023.104417
Mwangi MMohand-Ousaid AByiringiro JRakotondrabe MLutz P(2022)Study and implementation of electrostatic actuation for programmable matter modules2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)10.1109/AIM52237.2022.9863356(1549-1554)Online publication date: 11-Jul-2022
https://dl.acm.org/doi/10.1109/AIM52237.2022.9863356
Gerbl MGerstmayr J(2022)Self-reconfiguration of shape-shifting modular robots with triangular structureRobotics and Autonomous Systems10.1016/j.robot.2021.103930147:COnline publication date: 3-Jan-2022
https://dl.acm.org/doi/10.1016/j.robot.2021.103930
Pruszko LLaurillau YPiranda BBourgeois JCoutrix C(2021)Impact of the Size of Modules on Target Acquisition and Pursuit for Future Modular Shape-changing Physical User InterfacesProceedings of the 2021 International Conference on Multimodal Interaction10.1145/3462244.3479936(297-307)Online publication date: 18-Oct-2021
https://dl.acm.org/doi/10.1145/3462244.3479936
Pruszko LCoutrix CLaurillau YPiranda BBourgeois J(2021)Molecular HCIProceedings of the ACM on Human-Computer Interaction10.1145/34617335:EICS(1-33)Online publication date: 29-May-2021
https://dl.acm.org/doi/10.1145/3461733
Akitaya HArkin EDamian MDemaine EDujmović VFlatland RKorman MPalop BParada IRenssen ASacristán V(2021)Universal Reconfiguration of Facet-Connected Modular Robots by Pivots: The O(1) MusketeersAlgorithmica10.1007/s00453-020-00784-683:5(1316-1351)Online publication date: 1-May-2021
https://dl.acm.org/doi/10.1007/s00453-020-00784-6
Hayat AParween RElara MParsuraman KKandasamy P(2019)Panthera: Design of a Reconfigurable Pavement Sweeping Robot2019 International Conference on Robotics and Automation (ICRA)10.1109/ICRA.2019.8794268(7346-7352)Online publication date: 20-May-2019
https://dl.acm.org/doi/10.1109/ICRA.2019.8794268
Alattas RPatel SSobh T(2019)Evolutionary Modular Robotics: Survey and AnalysisJournal of Intelligent and Robotic Systems10.1007/s10846-018-0902-995:3-4(815-828)Online publication date: 1-Sep-2019
https://dl.acm.org/doi/10.1007/s10846-018-0902-9
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Recommendations

A Real-Time Reconfigurable Collision Avoidance System for Robot Manipulation

Design and analysis of a tree climbing robot

Simulating CALUMA CAssino Low-cost hUMAnoid robot carrying a load

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