Optimized Binary Modular Reconfigurable Robotic Devices

—Binary robotic devices with large degrees of freedom have been proposed by a number of researchers. However, experimental implementations of these concepts have been built with conventional components. These physical systems are heavy, complex and far from being practical devices. In this paper, a lightweight, compliant mechanism driven by optimized magnet-coil actuators is proposed and developed as an element for modular hyper-redundant degrees of freedom robotic systems. Such elements could be used in a number of applications and would replace conventional, complex, and heavy components. The device has a parallel kinematic structure. Its binary actuation simplifies its control architecture.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Moustapha Hafez, Matthew D. Lichter, Steven Dubowsky
• Keywords: Freedom Robotic Systems, ICRA 2002, Optimized Magnet-coil Actuators, Robotics, —Binary Robotic Devices