Multimode locomotion via SuperBot reconfigurable robots

Abstract One of the most challenging issues for a selfsustaining robotic system is how to use its limited resources to accomplish a large variety of tasks. The scope of such tasks could include transportation, exploration, construction, inspection, maintenance, in-situ resource utilization, and support for astronauts. This paper proposes a modular and reconfigurable solution for this challenge by allowing a robot to support multiple modes of locomotion and select the appropriate mode for the task at hand. This solution relies on robots that are made of reconfigurable modules. Each locomotion mode consists of a set of characteristics for the environment type, speed, turning-ability, energy-efficiency, and recoverability from failures. This paper demonstrates a solution using the SuperBot robot that combines advantages from M-TRAN, CONRO, ATRON, and other chain-based and lattice-based robots. At the present, a single real SuperBot module can move, turn, sidewind, maneuver, and travel on ...

• Type: Journal
• Year: 2006
• Where: AROBOTS
• Authors: Wei-Min Shen, Maks Krivokon, Harris Chiu, Jacob Everist, Michael Rubenstein, Jagadesh Venkatesh
• Keywords: AROBOTS 2006, In-situ Resource Utilization, Robots, Superbot Modules