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SMORES-EP, a modular robot with parallel self-assembly

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Abstract

Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree topologies. These modular robots form kinematic chains that have been shown to be capable of a large variety of manipulation and locomotion tasks, yet they can reconfigure using a mobile reconfiguration. A desired kinematic topology can be mapped onto a planar pattern with the optimal module assignment based on the modules’ locations, then the mobile reconfiguration assembly process can be executed in parallel. A docking controller is developed to guarantee the success of docking processes. A hybrid control architecture is designed to handle a large number of modules and complex behaviors of each individual, and achieve efficient and robust self-assembly actions. The framework is demonstrated in both hardware and simulation on the SMORES-EP platform.

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This work was funded by NSF Grant Number CNS-1329620.

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  1. GRASP Laboratory and The Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, 220 South 33rd St., Philadelphia, PA, USA

    Chao Liu, Hyun Kim & Mark Yim

  2. The Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA

    Qian Lin

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  1. Chao Liu
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Liu, C., Lin, Q., Kim, H. et al. SMORES-EP, a modular robot with parallel self-assembly. Auton Robot 47, 211–228 (2023). https://doi.org/10.1007/s10514-022-10078-1

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