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Modular robots can potentially assemble into a wide range of configurations to locomote in different environments. However, designing locomotion strategies for each configuration is often tedious and has generally relied on a priori known connection geometry. Here we present a framework for 2D modular robots made of square modules assembled with arbitrary geometry, which achieve collective and directed...
In this paper, we study the output synchronization problem of networked Euler-Lagrange(EL) systems subject to nonholonomic constraints. An EL system subject to nonholonomic constraints can be input-output linearized if a proper decoupling matrix can be found, and the linearized form is equivalent to a double integrator. Although a double integrator is not a passive system, with proper design of the...
In nature, animal groups achieve robustness and scalability with each individual executes a simple and adaptive strategy. Inspired by this phenomenon, we propose a decentralized control framework for modular robots to achieve coordinated and self-adaptive tasks with each modules performs simple distributed sensing and actuation. In this demonstration, we show that such a framework allows several different...
Biological systems achieve amazing adaptive behavior with local agents performing simple sensing and actions. Modular robots with similar properties can potentially achieve self-adaptation tasks robustly. Inspired by this principle, we present a generalized distributed consensus framework for self-adaptation tasks in modular robotics. We demonstrate that a variety of modular robotic systems and tasks...
We present a modular robot design inspired by the creation of complex structures and functions in biology via deformation. Our design is based on the Tensegrity model of cellular structure, where active filaments within the cell contract and expand to control individual cell shape, and sheets of such cells undergo large-scale shape change through the cooperative action of connected cells. Such deformations...
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