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![Page 1: The ATRON Self-reconfigurable Robot challenges and future directions Kasper Støy AdapTronics Group The Maersk Institute for Production Technology University.](https://reader035.fdocuments.net/reader035/viewer/2022070411/56649c9a5503460f94957b5d/html5/thumbnails/1.jpg)
The ATRON Self-reconfigurable Robotchallenges and future directions
The ATRON Self-reconfigurable Robotchallenges and future directions
Kasper Støy
AdapTronics GroupThe Maersk Institute for Production Technology
University of Southern Denmark
www.hydra-robot.dk
Kasper StøyAdapTronics Group
The Maersk Institute for Production TechnologyUniversity of Southern Denmark
www.hydra-robot.dk
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ATRON
Terrestrial Self-Reconfiguration
Henrik H. Lund, Esben H. Ostergaard
Richard Beck, Lars Dalsgaard, Morten W. Jorgensen
Associated:
Kristian Kassow, Leonid Paramonov, Kasper Støy,
David Christensen, David Brandt, Danny Kyrping
Maersk Institute, University of Southern Denmark, Denmark
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Self-reconfigurable robotsSelf-reconfigurable robots
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ATRON ConceptATRON Concept
Key insight: 3D self-reconfiguration can be achieved even-though each module only has one rotational degree of freedom
Key insight: 3D self-reconfiguration can be achieved even-though each module only has one rotational degree of freedom
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Mechanics : Prototype 0Mechanics : Prototype 0
Concept:
Using arms for alignment and screw to connect
Produced in 3D printer
Concept:
Using arms for alignment and screw to connect
Produced in 3D printer
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Mechanics : Prototype 1AMechanics : Prototype 1A
Connector Concept Two arms
parallel to equator
Test of connector Too weak
Connector Concept Two arms
parallel to equator
Test of connector Too weak
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Mechanics : Prototype 1BMechanics : Prototype 1B
Connector Concept Trippel Hooks Dual bars
Test of connector Prototype broke
Connector Concept Trippel Hooks Dual bars
Test of connector Prototype broke
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Mechanics : Final PrototypeMechanics : Final Prototype
Improved main bearing
Improved connector-mechanism
Improved main bearing
Improved connector-mechanism
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ElectronicsElectronics Two hemispheres
Two sets of main processors
Connector actuation Hemispheres
connected by slipring One power management
processor Sensors
Two hemispheres Two sets of main
processors Connector actuation Hemispheres
connected by slipring One power management
processor Sensors
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Electronics : Power SupplyElectronics : Power Supply
Manages recharging Shares power Selects best power source Monitors the organism
power supply Regulates power 600 batteries sponsored by
Danionics
Manages recharging Shares power Selects best power source Monitors the organism
power supply Regulates power 600 batteries sponsored by
Danionics
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Current MechanicsCurrent Mechanics
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Final Module DesignFinal Module Design
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IROS2004 - Demonstration videos
IROS2004 - Demonstration videos
Misalignment correction Double rotation Power sharing
Misalignment correction Double rotation Power sharing
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Concept DemonstationsConcept Demonstations
David Christensen Meta module demo (ATRON Demo 1)
Jakob Stampe Mikkelsen Walker
David Christensen Meta module demo (ATRON Demo 1)
Jakob Stampe Mikkelsen Walker
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Explored control conceptsExplored control concepts
Local control Local rules (Esben H. Østergaard) Gradients and scaffolds (Kasper Støy) Meta modules (David Christensen)
Centralized control Planning (David Brandt)
Local control Local rules (Esben H. Østergaard) Gradients and scaffolds (Kasper Støy) Meta modules (David Christensen)
Centralized control Planning (David Brandt)
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Gradients and scaffoldGradients and scaffold
QuickTime™ and a decompressor
are needed to see this picture.
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Local RulesLocal Rules
Esben ØstergaardEsben Østergaard
QuickTime™ and aYUV420 codec decompressor
are needed to see this picture.
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Meta modulesMeta modules
David ChristensenDavid Christensen
QuickTime™ and a decompressor
are needed to see this picture.
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ConclusionConclusion
Control achievements Control is difficult, but experience gained
ATRON Achievements Innovative connector design Innovative lattice structure resulting in
Simplified modules Easier control…
Control achievements Control is difficult, but experience gained
ATRON Achievements Innovative connector design Innovative lattice structure resulting in
Simplified modules Easier control…
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IntermezzoIntermezzo
Queen of Denmark admires ATRON module together with the Japanese emperor
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The Cruel Reality of Self-
Reconfigurable Robots
Kasper StøyAdapTronics Group
The Maersk Institute for Production TechnologyUniversity of Southern Denmark
Kasper StøyAdapTronics Group
The Maersk Institute for Production TechnologyUniversity of Southern Denmark
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Vision of self-reconfigurable robots
Vision of self-reconfigurable robots
Robust Versatile Cheap
Robust Versatile Cheap
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The Reality of Self-Reconfigurable Robots
The Reality of Self-Reconfigurable Robots
Fragile Useless Expensive
Fragile Useless Expensive
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Robust vs FragileRobust vs Fragile
Robustness comes from redundancy If a module fails it can be ejected and other
modules can take over Graceful degradation of performance
Robustness comes from redundancy If a module fails it can be ejected and other
modules can take over Graceful degradation of performance
QuickTime™ and aYUV420 codec decompressor
are needed to see this picture. USC’s ISI
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Robust vs FragileRobust vs Fragile
Difficult to detect if a module has failed Due to motion constraints it is difficult to eject the failed
module Due to weakness of modules it may not be possible to eject
the failed module at all
Difficult to detect if a module has failed Due to motion constraints it is difficult to eject the failed
module Due to weakness of modules it may not be possible to eject
the failed module at all
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Versatile vs UselessVersatile vs Useless
A self-reconfigurable robot can change into any shape needed for the task
A self-reconfigurable robot can change into any shape needed for the task
QuickTime™ and aYUV420 codec decompressor
are needed to see this picture.
QuickTime™ and aYUV420 codec decompressor
are needed to see this picture.
QuickTime™ and aYUV420 codec decompressor
are needed to see this picture.
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Versatile vs uselessVersatile vs useless
In practice motion constraints make it difficult to change shape
In practice motion constraints make it difficult to change shape
QuickTime™ and aYUV420 codec decompressor
are needed to see this picture.
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Versatile vs uselessVersatile vs useless
In practice motion constraints make it difficult to change shape
In practice motion constraints make it difficult to change shape
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Versatile vs uselessVersatile vs useless
David Brandt
Start
Goal
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Versatile vs uselessVersatile vs useless
Too weak to interact with the world The ATRON and the MTRAN robots can only
lift in the order of a few modules
Too weak to interact with the world The ATRON and the MTRAN robots can only
lift in the order of a few modules
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Cheap vs ExpensiveCheap vs Expensive
ATRON $2000 MTRAN $3500 ….
ATRON $2000 MTRAN $3500 ….
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The Reality of Self-Reconfigurable Robots
The Reality of Self-Reconfigurable Robots
Fragile! Useless! Expensive!
Fragile! Useless! Expensive!
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Challenges of self-reconfigurable robots
Challenges of self-reconfigurable robots
How do we Make robot strength greater than O(1)? Reduce motion constraints to facilitate easy
self-reconfiguration? Reduce the consequences of module failure? Reduce module complexity (cost)?
…while maintaining our successful results
How do we Make robot strength greater than O(1)? Reduce motion constraints to facilitate easy
self-reconfiguration? Reduce the consequences of module failure? Reduce module complexity (cost)?
…while maintaining our successful results
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Make robot strength greater than O(1)?
Make robot strength greater than O(1)?
Use module weight to gain leverage (seesaw)
Crystalline/Telecube parallel chains
….
Use module weight to gain leverage (seesaw)
Crystalline/Telecube parallel chains
….
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Reduce module complexity (cost)?
ATRON is a step forward, but further - no idea…
Reduce module complexity (cost)?
ATRON is a step forward, but further - no idea…
Reduce the consequences of module failure?•No idea
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Reduce motion constraints to facilitate easy self-reconfiguration?
Reduce motion constraints to facilitate easy self-reconfiguration?
Metamodules Scaffold Telecube
Metamodules Scaffold Telecube
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Hypothesis Hypothesis
The challenges cannot only be addressed at the level of control
The challenges have to be addressed by new innovative hardware design
The challenges cannot only be addressed at the level of control
The challenges have to be addressed by new innovative hardware design
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Challenges of self-reconfigurable robots
Challenges of self-reconfigurable robots
How do we design the module to Make robot strength greater than O(1)? Reduce motion constraints to facilitate easy
self-reconfiguration? Reduce the consequences of module failure? Reduce module complexity (cost)?
…while maintaining our successful results
How do we design the module to Make robot strength greater than O(1)? Reduce motion constraints to facilitate easy
self-reconfiguration? Reduce the consequences of module failure? Reduce module complexity (cost)?
…while maintaining our successful results
![Page 40: The ATRON Self-reconfigurable Robot challenges and future directions Kasper Støy AdapTronics Group The Maersk Institute for Production Technology University.](https://reader035.fdocuments.net/reader035/viewer/2022070411/56649c9a5503460f94957b5d/html5/thumbnails/40.jpg)
Deformable Modular RobotsDeformable Modular Robots
All modules are permanently connected in a lattice
Modules can only contract or expand
(limited but flexible
crystalline module)
All modules are permanently connected in a lattice
Modules can only contract or expand
(limited but flexible
crystalline module)
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Concept DemonstrationConcept Demonstration
Physical implementation Deformatron Hexatron
Simulation
Physical implementation Deformatron Hexatron
Simulation
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Deformable Modular RobotsDeformable Modular Robots
Make robot strength greater than O(1)? Through parallelisms
Reduce motion constraints to facilitate easy self-reconfiguration? Done
Reduce the consequences of module failure? Done
Reduce module complexity (cost)? No connectors
…while maintaining our successful results Shape change within limits No self-replicating robot
Make robot strength greater than O(1)? Through parallelisms
Reduce motion constraints to facilitate easy self-reconfiguration? Done
Reduce the consequences of module failure? Done
Reduce module complexity (cost)? No connectors
…while maintaining our successful results Shape change within limits No self-replicating robot
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ConclusionConclusion
Self-reconfigurable robots are facing serious challenges Increase strength, reduce motion constraints,
increase fault tolerance, reduce complexity (price)
Radical new hardware designs needed Deformable modular robots may be able to
sidestep the hardest problems, but at a cost
Self-reconfigurable robots are facing serious challenges Increase strength, reduce motion constraints,
increase fault tolerance, reduce complexity (price)
Radical new hardware designs needed Deformable modular robots may be able to
sidestep the hardest problems, but at a cost