Metamorphic Robots
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This document discusses metamorphic robots, which are collections of independently controlled modules that can dynamically self-reconfigure their shape without human intervention by connecting, disconnecting, and moving adjacent modules. Key concepts discussed include digital hormones for communication between modules, how modules propagate hormones to specify tasks and resolve conflicts, applications of metamorphic robots in planetary exploration and hazardous environments, and future improvements related to sensors, distributed control, motion planning, and connection mechanisms. Metamorphic robots could enhance capabilities for space activities and enable adaptability to new tasks.
Metamorphic Robots
- 1. TOPIC : METAMORPHIC ROBOTS
- 2. CONTENTS :- Introduction Metamorphic robots vs. other reconfigurable robots. Digital hormone. Hormone propagation. How do they change their shape. Applications. Advantages & disadvantages Future improvements Conclusion References
- 3. Example of a robot with shape shifting capabilities.
- 4. INTRODUCTION • A metamorphic robot has a ability to dynamically self reconfigure it’s shape without any human intervention. • A metamorphic robotic system is a collection of independently controlled modules.
- 5. The modules can connect, disconnect, and move around adjacent modules.
- 6. All modules have the same physical structure. Symmetries in the mechanical structure of the modules must be such that they fill planar and spatial regions with minimal gaps. The modules must have enough degrees of freedom. There must be electromechanical or electromagnetic connection between modules. Difference between metamorphic robots and other reconfigurable robots.
- 7. DIGITAL HORMONE Digital hormone is a biological concept. Digital hormone is a concept or method of communication and control among self-reconfigurable or metamorphic robots.
- 8. HORMONE PROPAGATION Hormone propagation is a mechanism by which a module communicates with other modules. Hormone propagation is used in task specification and conflict resolution. In two situations a module propagates a hormone. • When the module generates a new hormone. • When a module receives a hormone.
- 9. HOW DO THEY CHANGE THEIR SHAPE?
- 10. Figure 1 Figure 2
- 11. Planetary explorations. Undersea mining. Maintenance tasks on ship hulls and oil tanks. Inspection and rescue. APPLICATIONS
- 12. ADVANTAGES They are robust. Cost efficient. Useful in dangerous environment. Modules are identical.
- 13. DISADVANTAGES • Can be used for destructive purpose also.
- 14. • Equipping modules with sensors to detect external environments. • Implementing a distributed control system where each module decides its action in an autonomous way. • Automatic and more efficient motion planning that is currently hand-coded. • Improvement of connection and motion mechanism for more reliable motion. FUTURE IMPROVEMENT
- 15. • Metamorphic robots are a revolutionary robotic technology that could greatly enhance human capabilities in space and enable a new range of scientific activities and planetary exploration. • It opens the possibility of constructing robots that can change their shape and functionality, affording extreme adaptability to new tasks. CONCLUSION
- 16. REFRENCES :- • A. Castano, W.M. Shen, and P. Will, Towards deployable robots with inter-robots metamorphic capabilities, Autonomous Robots 8(3): 309- 324, 2000. • G. Chirikjian and A. Pamecha, Bounds for self-reconfiguration of metamorphic robots, in Proc. IEEE ICRA, 1996. • K. Kotay and D. Rus, The self-reconfiguring robotic molecule: design and control algorithms, in Proc. WAFR, 1998. • S. Murata, H. Kurokawa, and S. Kokaji, Self-assembling machine, in Proc. IEEE ICRA, 1994.