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  • Our objective is to design self-

  • assembling and self-reconfiguring

  • robot systems. These are modular

  • robots with the ability of

  • changing their geometry according

  • to a task. And this is exciting

  • because a robot designed for a

  • single task has a fixed

  • architecture and that robot will

  • perform the single task well but

  • it will perform poorly on a

  • different task in a different

  • environment. If we do not know

  • ahead of time what the robot

  • will have to do and when it will

  • have to to it, it is better to

  • consider making modular robots

  • that can attain whatever shape

  • that is needed for the manip-

  • ulation, navigation or sensing

  • needs of the task. Up until now

  • most other modular robotic

  • systems use servos and motors

  • in order to have arms that and

  • attachments that move modules to

  • different places. However we

  • wanted a simpler approach that

  • uses fewer actuators, fewer

  • moving parts and was easier to

  • implement on a lot of different

  • robots. So the approach we chose

  • to use is angular momentum.

  • And essentially what that means

  • is there is a spinning mass that

  • spins inside the robot. If we

  • want that robot to move it stops

  • that spinning mass which takes

  • that motion from the mass and

  • applies it to the robot. And the

  • part of this that is unique is

  • that the spinning mass is

  • completely inside the robot and

  • so the robot doesn't have to be

  • in a certain position in order

  • for the force to be acted upon

  • the robot so this allows for

  • a lot more types of motion with

  • only one actuator.

  • So there were a couple challenges

  • when we came to design the

  • m-blocks, one, was fitting

  • everything inside. So we have a

  • relative small volume and we

  • needed to fit a brushless motor

  • controller, a flywheel, a

  • breaking mechanism, electronics

  • a radio and a battery.

  • Additionally we faced the

  • challenge of trying to simplify

  • and try and make the design as

  • robust as possible. So we didn't

  • want any external moving parts.

  • We didn't want latches, we

  • didn't want the cubes to change

  • their shape. We just wanted

  • simple blocks that were able to

  • move on their own. The magnet

  • system in the cubes is one of

  • its key features. We have face

  • magnets. There's eight face

  • magnets that provide some course

  • alignment and then there are

  • these edge magnets which are

  • free to rotate. And the key is

  • that when a cube starts rotating

  • the edge magnets actually get

  • close to one another. So if we

  • start from this configuration and

  • we break the face magnets free

  • and start rotating the edge

  • magnets actually get a little

  • bit closer due the fact that the

  • edge is slightly cut back and as

  • a result you form a very strong

  • bond between cubes which allows

  • them to stay attached as one is

  • rotating into a new position. It

  • continues rotating, the face

  • magnets provide alignment and

  • it snaps into place.

  • One other benefit of having an

  • internal actuator is that the

  • cubes are able to jump

  • and this is a capability that

  • very few robots have. Especially

  • very few modular robots because

  • in order to jump there's a

  • requirement for a very high

  • amount of energy in a very short

  • amount of time and most robots

  • are optimized for control,

  • stability and precise motion.

  • In our robot we found it kind of

  • as an accident that they are

  • able to jump, we weren't

  • intending to do that but it ends

  • up that we need enough momentum

  • inside each cube in order to

  • move on a lattice structure,

  • which is what we intended, that

  • we can also, when we apply as

  • much energy as possible, it can

  • jump through the air which is

  • pretty exciting because it also

  • allows robots to jump on top

  • of each other and go places that

  • they couldn't go if they were

  • only moving directly on the

  • structure. Currently we're

  • sending commands to the modules

  • with a radio. So we type commands

  • on our computer, those are

  • transferred over a wireless link

  • like your wifi system in your

  • house, and then the cube responds

  • to that. In the future we

  • envision putting the algorithms

  • on the modules themselves so

  • they can completely, autonomously

  • in a distributive fashion decide

  • how, when and where to move. So

  • we want to be able to take a

  • large group of cubes and tell

  • them form this shape, and give

  • those instructions at a very high

  • level and then have the cubes

  • decide, on their own, how to go

  • about accomplishing that task.

Our objective is to design self-

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B1 中級 美國腔

自組機器人(Small cubes that self-assemble)

  • 7 0
    joey joey 發佈於 2021 年 02 月 23 日
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