Roombots: Reconfigurable robots for adaptive furniture

IEEE Computational Intelligence Magazine

Volumn 5, Issue 3, 2010, Pages 20-32

  Spröwitz, Alexander ^a   Pouya, Soha ^a   Bonardi, Stéphane ^a   Van Den Kieboom, Jesse ^a   Möckel, Rico ^a   Billard, Aude ^a   Dillenbourg, Pierre ^a   Ijspeert, Auke ^a  

^a EPFL   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

BROADCAST SIGNALS; CENTRAL PATTERN GENERATOR; COUPLED OSCILLATORS; COUPLED PHASE OSCILLATORS; DEGREE OF FREEDOM; DISTRIBUTED SYSTEMS; LEGGED ROBOTS; LOCOMOTION CONTROLLERS; LONG TERM VISION; MODULAR ROBOTICS; OUTPUT FILTERS; RECONFIGURABLE ROBOT; ROTATIONAL DEGREES OF FREEDOM; ROTATIONAL JOINT; RUN TIME RECONFIGURATION; SPINAL CORDS; STOCHASTIC OPTIMIZATION ALGORITHM;

ANIMALS; DEGREES OF FREEDOM (MECHANICS); OPTIMIZATION; ROBOTS;

OSCILLATORS (ELECTRONIC);

EID: 77954703071     PISSN: 1556603X     EISSN: None     Source Type: Journal    
DOI: 10.1109/MCI.2010.937320     Document Type: Article

References (42)

1. M. Vona, C. Detweiler, and D. Rus, "Shady: Robust truss climbing with mechanical compliances," in Proc. Int. Symp. Experimental Robotics, 2008, pp. 431-440.
2. N. A. Streitz, J. Geißler, and T. Holmer, "Roomware for cooperative buildings: Integrated design of architectural spaces and information spaces," in Proc. 1st Int. Workshop Cooperative Buildings. Integrating Information, Organization, and Architecture, CoBuild'98, Darmstadt, Germany, Feb. 1998, p. 4.
3. E. Hornecker and J. Buur, "Getting a grip on tangible interaction: A framework on physical space and social interaction," in Proc. SIGCHI Conf. Human Factors in Computing Systems, Apr. 2006.
4. T. Fukuda, S. Nakagawa, Y. Kawauchi, and M. Buss, "Self organizing robots based on cell structures-CEBOT," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 1988, pp. 145-150.
5. H. Kurokawa, A. Kamimura, E. Yoshida, K. Tomita, S. Kokaji, and S. Murata, "MTRAN II: Metamorphosis from a four-legged walker to a caterpillar," in Proc. IEEE/ RSJ Int. Conf. Intelligent Robots and Systems, 2003 (IROS'03), Oct. 2003, vol.3, pp. 2454- 2459.
6. P. Pillai, J. Campbell, G. Kedia, S. Moudgal, and K. Sheth, "A 3D fax machine based on claytronics," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2006, pp. 4728-4735.
7. M. Asadpour, M. H. Z. Ashtiani, A. Sproewitz, and A. Ijspeert, "Graph signature for self-reconfiguration planning of modules with symmetry," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2009 (IROS'09), St. Louis, 2009.
8. E. Yoshida, S. Murata, A. Kamimura, K. Tomita, H. Kurokawa, and S. Kokaji, "A motion planning method for a self-reconfigurable modular robot," in Proc. 2001 IEEE / RSJ Int. Conf. Intelligent Robots and Systems, 2001, vol.1, pp. 590-597. (Pubitemid 34683713)
9. Z. Butler, K. Kotay, D. Rus, and K. Tomita, "Generic decentralized control for lattice- based self-reconfigurable robots," Int. J. Robot. Res., vol.23, no.9, pp. 919-937, Sept. 2004.
10. P. White and M. Yim, "Scalable modular self-reconfigurable robots using external actuation," in Proc. 2007 IEEE / RSJ Int. Conf. Intelligent Robots and System, 2007, pp. 2773-2778.
11. K. Stoy, "Using cellular automata and gradients to control self-reconfiguration," Robot. Auton. Syst., vol.54, no.2, pp. 135-141, Feb. 2006.
12. W. Shen, P. Will, A. Galstyan, and C. Chuong, "Hormone-inspired self-organization and distributed control of robotic swarms," Auton. Robots, vol.17, no.1, pp. 93-105, 2004.
13. J. V. Neumann, Theory of Self-Reproducing Automata, A. W. Burks, Ed. Urbana, IL: Univ. Illinois Press, 1966.
14. P. Varshavskaya, L. P. Kaelbling, and D. Rus, "Automated design of adaptive controllers for modular robots using reinforcement learning," Int. J. Robot. Res., vol.27, no.3-4, pp. 505-526, Mar. 2008.
15. R. Fitch, Z. Butler, and D. Rus, "Reconfiguration planning for heterogeneous selfreconfiguring robots," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2003 (IROS'03), 2003, vol.3, pp. 2460-2467.
16. R. Fitch and Z. Butler, "Million module march: Scalable locomotion for large self-reconf iguring robots," Int. J. Robot. Res., vol.27, no.3-4, pp. 331-343, Mar. 2008.
17. K. D. Kotay and D. L. Rus, "Scalable parallel algorithm for configuration planning for self-reconfiguring robots," in Sensor Fusion and Decentralized Control in Robotic Systems III, vol.4196, G. T. McKee and P. S. Schenker, Eds. Boston, MA: SPIE, Oct. 2000, pp. 377-387.
18. D. Rus and M. Vona, "Crystalline robots: Self-reconfiguration with compressible unit modules," Auton. Robots, vol.10, no.1, pp. 107-124, 2001.
19. D. Dewey, M. Ashley-Rollman, M. D. Rosa, S. Goldstein, T. Mowry, S. Srinivasa, P. Pillai, and J. Campbell, "Generalizing metamodules to simplify planning in modular robotic systems," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2008 (IROS'08), 2008, pp. 1338-1345.
20. A. J. Ijspeert, "Central pattern generators for locomotion control in animals and robots: A review," Neural Netw., vol.21, no.4, pp. 642-653, May 2008.
21. M. Yim, "Locomotion with a unit modular reconfigurable robot," Ph.D. dissertation, Mech. Eng. Dept., Stanford Univ., 1994.
22. J. Bongard, V. Zykov, and H. Lipson, "Resilient machines through continuous selfmodeling," Science, vol.314, no.5802, pp. 1118-1121, 2006.
23. K. Stoy, W. Shen, and P. Will, "Implementing configuration dependent gaits in a self-reconfigurable robot," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA2003), 2003.
24. A. Kamimura, H. Kurokawa, E. Toshida, K. Tomita, S. Murata, and S. Kokaji, "Automatic locomotion pattern generation for modular robots," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA2003), 2003.
25. A. Kamimura, H. Kurokawa, E. Yoshida, S. Murata, K. Tomita, and S. Kokaji, "Distributed adaptive locomotion by a modular robotic system, M-TRAN II," in Proc. IEEE/ RSJ Int. Conf. Intelligent Robots and Systems (IROS2004), 2004, pp. 2370-2377.
26. D. Marbach and A. J. Ijspeert, "Online optimization of modular robot locomotion," in Proc. IEEE Int. Conf. Mechatronics and Automation (ICMA 2005), 2005, pp. 248-253.
27. A. Sproewitz, R. Moeckel, J. Maye, and A. J. Ijspeert, "Learning to move in modular robots using central pattern generators and online optimization," Int. J. Robot. Res., vol.27, no.3-4, pp. 423-443, Mar. 2008.
28. E. Mytilinaios, M. Desnoyer, D. Marcus, and H. Lipson, "Designed and evolved blueprints for physical self-replicating machines," in Proc. 9th Int. Conf. The Simulation and Synthesis of Living Systems (Artificial Life IX), vol.2004. MIT, 2004, pp. 15-20.
29. A. Sproewitz, A. Billard, P. Dillenbourg, and A. J. Ijspeert, "Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture," in Proc. 2009 IEEE Int. Conf. Robotics and Automation, Kobe, Japan, 2009, pp. 4259-4264.
30. W.-M. Shen, M. Krivokon, H. Chiu, J. Everist, M. Rubenstein, and J. Venkatesh, "Multimode locomotion via SuperBot reconfigurable robots," Auton. Robots, vol.20, no.2, pp. 165-177, Mar. 2006.
31. S. Murata, E. Yoshida, A. Kamimura, H. Kurokawa, K. Tomita, and S. Kokaji, "M-TRAN: Self-reconfigurable modular robotic system," IEEE/ASME Trans. Mechatronics, vol.7, no.4, pp. 431-441, 2002.
32. V. Zykov, E. Mytilinaios, B. Adams, and H. Lipson, "Self-reproducing machines," Nature, vol.435, p. 163, 2005.
33. Y. Terada and S. Murata, "Automatic modular assembly system and its distributed control," Int. J. Robot. Res., vol.27, no.3-4, pp. 445-462, Mar. 2008.
34. A. Sproewitz, M. Asadpour, Y. Bourquin, and A. Ijspeert, "An active connection mechanism for modular self-reconfigurable robotic systems based on physical latching," in Proc. IEEE Int. Conf. Robotics and Automation, 2008 (ICRA'08), 2008, pp. 3508-3513.
35. O. Michel, "Webots: Professional mobile robot simulation," Int. J. Adv. Robot. Syst., vol.1, no.1, pp. 39-42, 2004.
36. P. Mudry, J. Ruffin, M. Ganguin, and G. Tempesti, "A hardware-software design framework for distributed cellular computing," in Proc. 8th Int. Conf. Evolvable Systems: From Biology to Hardware. Springer, 2008, p. 82.
37. R. T. Schroer, M. J. Boggess, R. J. Bachmann, R. D. Quinn, and R. E. Ritzmann, "Comparing cockroach and whegs robot body motion," in Proc. IEEE Int. Conf. Robotics and Automation 2004, Apr. 2004, pp. 3288-3293.
38. J. Kennedy and R. Eberhart, "Particle swarm optimization," in Proc. IEEE Int. Conf. Neural Networks, 1995, vol.4, pp. 1942-1948.
39. R. Eberhart and Y. Shi, "Comparing inertia weights and constriction factors in particle swarm optimization," in Proc. 2000 Congr. Evolutionary Computation, 2000, vol.1, pp. 84-88.
40. Y. Bourquin, "Self-organization of locomotion in modular robots," Ph.D. dissertation, Bioinspired Robotics Group (BIRG), Ecole Polytechnique Fédérale de Lausanne (EPFL), 2003.
41. M. Clerc and J. Kennedy, "The particle swarm-Explosion, stability, and convergence in a multidimensional complex space," IEEE Trans. Evol. Comput., vol.6, no.1, pp. 58-73, 2002.
42. H. Kimura, Y. Fukuoka, and A. H. Cohen, "Adaptive dynamic walking of a quadruped robot on natural ground based on biological concepts," Int. J. Robot. Res., vol.26, no.5, pp. 475-490, May 2007.