Leal-Naranjo, Jose-Alfredo, Fichera, Sebastiano 
ORCID: 0000-0003-1006-4959 and Paoletti, Paolo ORCID: 0000-0001-6131-0377
(2021)
Towards a modular robotic platform for construction and manufacturing.
In: 2021 29th Mediterranean Conference on Control and Automation (MED), 2021-6-22 - 2021-6-25.
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Abstract
Modular robotics is a promising approach to tackle modern societal challenges spanning from search and rescue missions, to smart manufacturing and construction, immersive visualisation etc. However, open mechatronic and control challenges still hinders this technology from achieving its full potential. A modular robotic system capable of reconfiguring itself in a 3D is proposed in this work. Such a system is intended to set the basis for a new methodology for manufacturing smart products and structures that can dynamically respond to external stimuli and user's commands. Each robot is a 100 mm cube able to perform 3D reconfiguration using three actuators only. A detailed description of the mechanical and electronic systems is discussed, along the communication strategy needed to exchange information between modules. Multimaterial 3D printing is extensively used to reduce the number of required parts. Three modules were built to show the feasibility of the proposed design, and a set of experiments were performed to demonstrate the reconfiguration capability of the system.
| Item Type: | Conference or Workshop Item (Unspecified) |
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| Additional Information: | (c) 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. |
| Uncontrolled Keywords: | Self-reconfiguring, modular robots, autonomous systems, programmable matter |
| Divisions: | Faculty of Science and Engineering > School of Engineering |
| Depositing User: | Symplectic Admin |
| Date Deposited: | 21 Nov 2022 11:25 |
| Last Modified: | 15 Mar 2024 06:50 |
| DOI: | 10.1109/MED51440.2021.9480264 |
| Related URLs: | |
| URI: | https://livrepository.liverpool.ac.uk/id/eprint/3135456 |
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