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
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.
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