A Novel Connection Mechanism for Dynamically Reconfigurable Modular Robots

James White; Mark A. Post; Andy M. Tyrrell

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Paper

A Novel Connection Mechanism for Dynamically Reconfigurable Modular Robots

Topics: Collective and Social Robots; Mechatronics Systems; Robot Design, Development and Control

In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics ICINCO - Volume 1, 385-394, 2022 , Lisbon, Portugal

Authors: James White ; Mark A. Post and Andy M. Tyrrell

Affiliation: Department of Electronic Engineering, The University of York, U.K.

Keyword(s): Modular, Robotics, Reconfigurable.

Abstract: This paper describes a novel hermaphroditic, single sided disconnect physical connector for heterogeneous modular robots built using eight permanent magnets arranged in rotating pairs. The connector has 4 rotational degrees of symmetry and incorporates power and data sharing. The connector has been designed as part of a project creating 10 cm cubic heterogeneous modules but could be easily scaled to different sizes for other applications. The paper begins with an introduction to connection mechanisms in modular robots, followed by a detailed description of the design of the connector. A description of the simulation environment created to test systems of interconnected modular robots is given, followed by the implementation and testing of the connection system created.

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Paper citation in several formats:

White, J.; Post, M. and Tyrrell, A. (2022). A Novel Connection Mechanism for Dynamically Reconfigurable Modular Robots. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-585-2; ISSN 2184-2809, SciTePress, pages 385-394. DOI: 10.5220/0011141100003271

@conference{icinco22,
author={James White. and Mark A. Post. and Andy M. Tyrrell.},
title={A Novel Connection Mechanism for Dynamically Reconfigurable Modular Robots},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2022},
pages={385-394},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011141100003271},
isbn={978-989-758-585-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - A Novel Connection Mechanism for Dynamically Reconfigurable Modular Robots
SN - 978-989-758-585-2
IS - 2184-2809
AU - White, J.
AU - Post, M.
AU - Tyrrell, A.
PY - 2022
SP - 385
EP - 394
DO - 10.5220/0011141100003271
PB - SciTePress