M. Kim, J. Weber (USA), and S. Cha (Korea)
Modular design, self-assembling robots in a system (SRS),
self-assembling robots, manipulation, minimizing
disturbance, Series Elastic Actuator (SEA).
This paper presents the design, construction, and control
for a novel concept of self-assembling robots in a system.
The system is composed of multiple cooperative robots
that are designed to self-assemble in a multiple-robot
system, execute manipulative tasks, and self-repair, all
without human assistance to achieve both autonomy and
robustness. The self-assembling feature employs four
mechanical design guidelines: independent module, one
touch assembly design, self-alignment, and self-guiding.
The independent design feature also employs independent
motor control boards and wireless communication board.
For a decoupling effect, we chose a motor with large gear
ratio. For safety and modularization purpose, we design
and implement a newly designed Series Elastic Actuator
to limit shock bandwidth and sense forces during
manipulative tasks. With the design and control method,
we can use the modular robot without considering the arm