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JRM Vol.33 No.5 pp. 1190-1203
doi: 10.20965/jrm.2021.p1190
(2021)

Paper:

Inter-Module Physical Interactions: A Force-Transmissive Modular Structure for Whole-Body Robot Motion

Shiqi Yu, Yoshihiro Nakata, Yutaka Nakamura, and Hiroshi Ishiguro

Graduate School of Engineering Science, Osaka University
1-3 Machikaneyama-cho, Toyonaka, Osaka 560-8531, Japan

Received:
June 28, 2019
Accepted:
August 31, 2021
Published:
October 20, 2021
Keywords:
modular robots, force transmission, humanoid mechanism, morphological computation
Abstract
Inter-Module Physical Interactions: A Force-Transmissive Modular Structure for Whole-Body Robot Motion

Propose of force transmission between a modular robot

Robots are required to be significantly compliant and versatile to work in unstructured environments. In a number of studies, robots have positively exploited the environments during interactions and completed tasks from a morphological viewpoint. Modular robots can help realize real-world adaptive robots. Researchers have been investigating the actuation, coupling, and communication mechanisms among these robots to realize versatility. However, the diverse force transmission among modules needs to be further studied to achieve the adaptive whole-body dynamics of a robot. In this study, we fabricated a modular robot and proposed the realization of force transmission on this robot, by constructing fluid transferable network systems on the actuation modules. By exploiting the physical property variations of the modular robot, our experimental results prove that the robot’s motion can be changed by switching the connection pattern of the system.

Cite this article as:
Shiqi Yu, Yoshihiro Nakata, Yutaka Nakamura, and Hiroshi Ishiguro, “Inter-Module Physical Interactions: A Force-Transmissive Modular Structure for Whole-Body Robot Motion,” J. Robot. Mechatron., Vol.33, No.5, pp. 1190-1203, 2021.
Data files:
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Last updated on Nov. 30, 2021