Programmable Matter with Modular Robots
-
Upload
elliando-dias -
Category
Technology
-
view
1.132 -
download
1
Transcript of Programmable Matter with Modular Robots
![Page 1: Programmable Matter with Modular Robots](https://reader036.fdocuments.net/reader036/viewer/2022081401/559581da1a28ab13548b45d9/html5/thumbnails/1.jpg)
1
Programmable Matterwith Modular Robots
Daniela RusCSAIL, MIT
Z. Butler, P. Corke, C. Detweiler, B. Donald, K. Gilpin, K. Kotay,C. Levey, I. Paprotny, I. Vasilescu, M. Vona, Y. Yoon
Motivation
Fixed architecture robot = fixed task set Flexible architecture robot = versatility
•Multiple locomotion gaits•Multiple manipulation gaits•Self-assembly•Self-repair
How do living cells differentiate? •Synthetic engineering exploration
![Page 2: Programmable Matter with Modular Robots](https://reader036.fdocuments.net/reader036/viewer/2022081401/559581da1a28ab13548b45d9/html5/thumbnails/2.jpg)
2
Self-reconfiguring Robots
blob
snake
slinky
•Multiple modules•Physically connected•Capable of autonomousstructural change•Multiple functionalities---form follows function
Programming matter byself-reconfiguration
All modules identical/active Connections Actuation by rotation, sliding, scaling Local communication
![Page 3: Programmable Matter with Modular Robots](https://reader036.fdocuments.net/reader036/viewer/2022081401/559581da1a28ab13548b45d9/html5/thumbnails/3.jpg)
3
Programming Matter Example:The Molecule
2 atoms, 1 bond, 5 connectors/atom 4 rotational degrees of freedom 4 Futaba S9204 10 Micro Mo motors FDM fabrication
Programming Matter Example
![Page 4: Programmable Matter with Modular Robots](https://reader036.fdocuments.net/reader036/viewer/2022081401/559581da1a28ab13548b45d9/html5/thumbnails/4.jpg)
4
Programming Matter:Distributed Control
Abstract model of relative motion: cubeSynthesize task-specific local rules (manually or learning)Prove correctnessCompile to specific hardware actuation
Programming Matter:Distributed Locomotion
![Page 5: Programmable Matter with Modular Robots](https://reader036.fdocuments.net/reader036/viewer/2022081401/559581da1a28ab13548b45d9/html5/thumbnails/5.jpg)
5
Programming MatterDistributed Control Analysis
Correctness: Some rule can always be applied Eastward motion results form all possible
sequences of rule activations The robot remains connected
Obstacle field must be shorter than therobot
Programming Matter:Another WayProof outline1. A rule can always be applied2. Rule applications Þ east movement3. The cell array remains connected
Graph equivalence1. No leaves2. Cycles : eastward displacement3. Nodes are connected cell arrays Automated proofs can be produced
for a given rule set and cell array
![Page 6: Programmable Matter with Modular Robots](https://reader036.fdocuments.net/reader036/viewer/2022081401/559581da1a28ab13548b45d9/html5/thumbnails/6.jpg)
6
Programming Matterby Disassembly
Initial configuration Finished product
Self-assembly as Sculpting
Programming Matter byDisassembly Trade-offs Simple actuation
mechanism fordisconnection
Disconnectioneasier, faster, morerobust than makingconnections
Gravity pullsmodules away
Must start from pre-assembled structure
Must rely onexternal force fordiscarding modules(gravity)
![Page 7: Programmable Matter with Modular Robots](https://reader036.fdocuments.net/reader036/viewer/2022081401/559581da1a28ab13548b45d9/html5/thumbnails/7.jpg)
7
Programming Matterby Disassembly Example
Motor
Magnet Assembly
“Switchable” Magnet
Li-PolyBatteries
Tilt Sensor
IR PhotodiodeIR LED
ARM Processor
2-D Accelerometer
Hall Effect Sensor
Miche Module
Programming MatterSelf-disassembly Algorithm
![Page 8: Programmable Matter with Modular Robots](https://reader036.fdocuments.net/reader036/viewer/2022081401/559581da1a28ab13548b45d9/html5/thumbnails/8.jpg)
8
Programming Matter Self-Disassembly Execution
5 trials, 120 secs average completion, some units can’t fall
Programming MatterLocalization with Tokens
Idea: each module computes a relative coordinateBenefits: global structure not known/needed
![Page 9: Programmable Matter with Modular Robots](https://reader036.fdocuments.net/reader036/viewer/2022081401/559581da1a28ab13548b45d9/html5/thumbnails/9.jpg)
9
Programming Matter Shape Distribution
Idea: included modules only receive message along shortest pathBenefits: no global knowledge/need of shape
Programming Matter:Self-disassembly Example
15 trials, 90 secs average completion
![Page 10: Programmable Matter with Modular Robots](https://reader036.fdocuments.net/reader036/viewer/2022081401/559581da1a28ab13548b45d9/html5/thumbnails/10.jpg)
10
What Types of Modular Robots?
Spectrum of capabilities: Self-reconfiguring: Actuation, Connection,
Computation, Sensing, Communication Self-disassembling: Connection, Computation, Sensing,
Communication Computation, Sensing, Communication Computation and Communication Inert
Spectrum of sizes: Large to Tiny Robots Spectrum of applications: ground, water, space
Programming Matterwith Microrobots
Untethered actuators Self-release Power-delivery
With B. Donald
![Page 11: Programmable Matter with Modular Robots](https://reader036.fdocuments.net/reader036/viewer/2022081401/559581da1a28ab13548b45d9/html5/thumbnails/11.jpg)
11
Programming Matter with Microrobots
Plate length: 80 microns; width 2 microns; speed 1.5 mm/sec
Programming Matter withRobots and Passive Blocks
![Page 12: Programmable Matter with Modular Robots](https://reader036.fdocuments.net/reader036/viewer/2022081401/559581da1a28ab13548b45d9/html5/thumbnails/12.jpg)
12
Programming Matterwith Robots and Passive Blocks
Programming MatterUnderwater
![Page 13: Programmable Matter with Modular Robots](https://reader036.fdocuments.net/reader036/viewer/2022081401/559581da1a28ab13548b45d9/html5/thumbnails/13.jpg)
13
Summary
Modular robots as alternative to fixedarchitecture robots
A spectrum of capabilities for modules The future:
BioChemical+Electromechanical Robotics(Wet+Dry)
Distributed control of millions of tiny modules
Questions