Mark Yim

University of Pennsylvania

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I–Ming Chen

Nanyang Technological University

Gregory S. Chirikjian

National University of Singapore

G Liu

Toronto Metropolitan University

Todd Murphey

Northwestern University

G. K. Ananthasuresh

Indian Institute of Science Bangalore

Tamás Kalmár‐Nagy

Budapest University of Technology and Economics

Jeff Trinkle

Lehigh University

Michael Kassler

IP Australia

Howie Choset

Carnegie Mellon University

Bruno Siciliano

University of Naples Federico II

Cooperative Institutions

University of Pennsylvania

151

California University of Pennsylvania

Philadelphia University

Robotics Research (United States)

Stanford University

Carnegie Mellon University

Palo Alto Research Center

Seoul National University

Cornell University

Massachusetts Institute of Technology

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Software architecture for modular self-reconfigurable robots

Y. Zhang Kimon Roufas Mark Yim

Modular, self-reconfigurable robots show the promise of great versatility, robustness and low cost. However, programming such robots for specific tasks, with hundreds of modules and each of which with multiple actuators and sensors, can be tedious and error-prone. The extreme versatility of the modular systems requires a new paradigm in programming. We present a software architecture for this type of robot, in particular the PolyBot, which has been developed through its third generation. The architecture, based on the properties of the PolyBot electro-mechanical design, features a multi-master/multi-slave structure in a multi-threaded environment, with three layers of communication protocols. The architecture is currently being implemented for Motorola PowerPC using vxWorks.

PowerPC

Robustness

Self-reconfiguring modular robot

10.1109/iros.2001.976422

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Citations (34)

Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics]

IEEE Robotics & Automation Magazine (2007)

Mark Yim Wei-Min Shen Behnam Salemi Daniela Rus Mark Moll

The field of modular self-reconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology. Modular self-reconfigurable systems have the promise of making significant technological advances to the field of robotics in general. Their promise of high versatility, high value, and high robustness may lead to a radical change in automation. Currently, a number of researchers have been addressing many of the challenges. While some progress has been made, it is clear that many challenges still exist. By illustrating several of the outstanding issues as grand challenges that have been collaboratively written by a large number of researchers in this field, this article has shown several of the key directions for the future of this growing field

Self-reconfiguring modular robot

Robustness

Grand Challenges

10.1109/mra.2007.339623

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Citations (952)

Compliant Node Conceptual Design and Position Estimation for Truss-Like Robotic System

Hyeungyu Yoon Jangho Bae Mark Yim TaeWon Seo

This paper explores the design of Compliant Nodes to improve a modular robot called Variable Topology Truss (VTT), allowing it to change shapes automatically. The study also suggests practical methods for using these nodes effectively. In earlier VTT models, nodes were limited to spherical joints, making it challenging to maintain their shape when constraints were incomplete. This often required manual reassembly to modify the robot's structure. To overcome this, current research focuses on adding flexibility to the nodes, enabling them to reshape autonomously. In this effort, the paper examines the design concepts of the nodes and establishes conditions for their movement once new hardware is developed. The study identifies key features and shapes that nodes should have, contributing significantly to future research in the field. These proposed improvements aim to address past challenges, making it easier for the VTT robot to transform its structure seamlessly and automatically.

Conceptual design

Position (finance)

10.1109/icmcr60777.2024.10482274

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ModQuad-DoF: A Novel Yaw Actuation for Modular Quadrotors

Bruno Gabrich Guanrui Li Mark Yim

In this work we introduce ModQuad-DoF, a modular flying robotic structure with enhanced capabilities for yaw actuation. We propose a new module design that allows a one degree of freedom relative motion between the flying robot and the cage, with a docking mechanism allowing rigid connections between cages. A novel method of yaw actuation that increases the structure control authority is also presented. Our new method for the structure yaw control relies on the independent roll angles of each one of the modules, instead of the traditional drag moments from the propellers. In this paper, we propose a controller that allows the ModQuad-DoF to control its position and attitude. In our experiments, we tested a different number of modules flying in cooperation and validated the novel yaw actuation method.

Yaw

10.1109/icra40945.2020.9196735

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Citations (19)

Experimental investigations into the role of passive variable compliant legs for dynamic robotic locomotion

Kevin C. Galloway Jonathan E. Clark Mark Yim Daniel E. Koditschek

Biomechanical studies suggest that animals' abilities to tune their effective leg compliance in response to changing terrain conditions plays an important role in their agile, robust locomotion. However, despite growing interest in leg compliance within the robotics literature, little experimental work has been reported on tunable passive leg compliance in running machines. In this paper we present an empirical study into the role of leg compliance using a composite tunable leg design implemented on our dynamic hexapod, EduBot, with gaits optimized for running speed using a range of leg stiffnesses, on two different surface stiffnesses, and with two different payload configurations (0 kg and 0.91 kg). We found that leg stiffness, surface compliance, and payload had a significant impact on the robot's final optimized speed and efficiency. These results document the value and efficacy of what we believe is the first autonomous dynamic legged robot capable of runtime leg stiffness adjustment.

Hexapod

Payload (computing)

10.1109/icra.2011.5979941

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Citations (52)

A decentralized algorithm for assembling structures with modular robots

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2017)

David Saldaña Bruno Gabrich Michael Whitzer Amanda Prorok Mário F. M. Campos

Recent work in the field of bio-inspired robotic systems has introduced designs for modular robots that are able to assemble into structures (e.g., bridges, landing platforms, fences) using their bodies as the building components. Yet, it remains an open question as to how to program large swarms of robotic modules so that the assembly task is performed as efficiently as possible. Moreover, the problem of designing assembly algorithms is compounded by the scale of these systems, and by the lack of centralized guidance in unstructured environments. The main contribution of this work is a decentralized algorithm to assemble structures with modular robots. Importantly, we coordinate the robots so that docking actions can be parallelized. We show the correctness of our algorithm, and we demonstrate its scalability and generality through multiple scenarios in simulation. Experiments on physical robots demonstrate the validity of our approach in real-world settings.

Self-reconfiguring modular robot

Generality

10.1109/iros.2017.8206101

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Citations (27)

Temporal integration of the π1/ π3 pathway in normal and dichromatic vision

Vision Research (1984)

Larry J. Friedman Mark Yim Edward N. Pugh

Gamut

10.1016/0042-6989(84)90215-3

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Citations (14)

Multimodal Proximity and Visuotactile Sensing With a Selectively Transmissive Soft Membrane

arXiv (Cornell University) (2022)

Jessica Yin Gregory M. Campbell James H. Pikul Mark Yim

The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the behavior of target objects during the critical moments as they transition out of static, controlled contact with an end-effector to dynamic and uncontrolled motion. In this work, we present a novel multimodal visuotactile sensor that provides simultaneous visuotactile and proximity depth data. The sensor integrates an RGB camera and air pressure sensor to sense touch with an infrared time-of-flight (ToF) camera to sense proximity by leveraging a selectively transmissive soft membrane to enable the dual sensing modalities. We present the mechanical design, fabrication techniques, algorithm implementations, and evaluation of the sensor's tactile and proximity modalities. The sensor is demonstrated in three open-loop robotic tasks: approaching and contacting an object, catching, and throwing. The fusion of tactile and proximity data could be used to capture key information about a target object's transition behavior for sensor-based control in dynamic manipulation.

Modality (human–computer interaction)

Tactile sensor

Sensor Fusion

Modalities

RGB color model

10.48550/arxiv.2204.08586

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Citations (0)

Distributed control and communication fault tolerance for the CKBot

ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (2009)

Michael Park Mark Yim

In this paper we present a method for distributed fault tolerance in a modular robotic system. We describe an implementation of this method on the CKBot system. In particular, we broadcast infrared (IR) signals to modules which collaboratively vote on a majority course of action. Various gait selections for a 7 module caterpillar and a 16 module quadruped with a faulty subset of IR receivers have been verified to demonstrate the algorithm's robustness. We conclude the paper with a discussion of modes of fault tolerances and this method's applicability to other modular robotic systems.

Robustness

Source

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Citations (24)

A Distributed Reconfiguration Planning Algorithm for Modular Robots

IEEE Robotics and Automation Letters (2019)

Chao Liu Michael Whitzer Mark Yim

Self-reconfigurable modular robots are usually composed of multiple modules with uniform docking interfaces that can be transformed into different configurations by themselves. The reconfiguration planning problem is finding what sequence of reconfiguration actions are required for one arrangement of modules to transform into another. We present a novel reconfiguration planning algorithm for the SMORES form of modular robots. The algorithm compares the initial configuration with the goal configuration efficiently. The reconfiguration actions can be executed in a distributed manner so that each module can efficiently finish its reconfiguration task which results in a global reconfiguration for the system. In the end, the algorithm is demonstrated on the SMORES-EP self-reconfigurable modular robot hardware and some reconfiguration task examples are provided.

Control reconfiguration

Self-reconfiguring modular robot

10.1109/lra.2019.2930432

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Citations (47)