Sep 19, 2016 @ 19:19 |
The SMORES modules can connect to one another using four electro-permanent (EP) magnets on each face to Accomplishing Tasks.
SMORES (Self-assembling Modular Robot for Extreme Shape-shifting) is a modular robot developed at the GRASP Lab, University of Pennsylvania. Each module has four degrees of freedom (pan, tilt, and left/right wheels). Each module has its own battery, and communicates with a central computer over 802.11 WiFi.
The advantage of modular robot systems lies in their flexibility, but this advantage can only be realized if there exists some reliable, effective way of generating configurations (shapes) and behaviors (controlling programs) appropriate for a given task.
Prof Mark Yim and his team from GRASP Lab designed the EP-Face Connector for each module. EP-Face connector is a novel connector for hybrid chain-lattice type modular robots that is high-strength (88.4N), compact, fast, power efficient and robust to position errors.
The connector consists of an array of electro-permanent magnets (EP magnets) embedded in a planar face. EP magnets are solid-state magnets that can be turned on and off and require power only when changing state.
The modules can connect to one another using four electro-permanent (EP) magnets on each face. EP magnets consist of an electromagnet coil wrapped around two permanent magnets, and can be turned on and off by sending a pulse of current through the coil. Once activated, they sustain a holding force of 20 N per magnet with no constant power consumption – they only require power when switching states. The magnets can also be used to manipulate metal objects.
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They are presenting their results and findings in IROS 2016 in October second week. In this paper, they present the design of the connector, manufacturing process, detailed experimental characterization of the connector strength under different loading conditions, and compare its performance to existing magnetic and mechanical connectors. They also illustrate the functional benefits of the EP-Face by demonstrating reconfiguration with the SMORES-EP robot.
Researchers have are currently in the process of constructing thirty SMORES modules.
Paper on SMORES won best Systems Paper Award at RSS 2016 held in June 2016.
The General Robotics, Automation, Sensing and Perception (GRASP) Lab is a multidisciplinary research laboratory at the University of Pennsylvania. Founded in 1979, the lab has grown to be one of the premier research labs focusing on fundamental research in robotics, vision, perception, control and automation.
Reference:
- “Design and Characterization of the EP-Face Connector”, Tarik Tosun, Jay Davey, Chao Liu, Mark Yim Univ. of Pennsylvania; IROS 2016
- “An End-to-End System for Accomplishing Tasks with Modular Robots” – RSS 2016 [paper]
Keywords: Modular Robots, SMORES, EP-Face Connector, GRASP Lab, IROS
Image: Research paper