Shady3D

From DRLWiki

shady3d: 2 barrel joints + middle joint for 3D motion

truss structure where a shady3d is moving

New Shadys for 3-D climbing

This research introduces the concept of modular robots to reconcile this trade-off. Instead of a single, full-degree-of-freedom robot, multiple simpler modules can be used. A single module has fewer degrees of freedom than required for complete 3-D motion, but it can move in a 2-D plane and reach a goal position in many cases. If complete 3-D motion is necessary, multiple modules can connect to and cooperate with each other to reach a goal position and orientation. The robot we present is the extension of a specific truss-climbing application our group has been working on: window shading. This 2-D Shady robot concept has been extended to a 3-D truss climbing modular robot system called Shady3D The design of the 2-D Shady robot has been modified to be able to escape from a 2-D plane. Based on the modified design, robot hardware including both the mechanical parts and electronics has been developed. We have also developed low-level control algorithms that control joint rotation and gripper operation, and high-level planning algorithms that enable the robot to navigate in a 3-D truss structure.

what's new?

Self Assembly by 2 Shady3Ds

We can build a 6-DOF manipulator with two 3-DOF modules and a passive truss element, or a passive bar.

6-dof motion is possible by the cooperation of 2 robots

To realize this, we built a active free bar which was active in a sense that it emitted a infra-red signal for a shady3D to know where it was and what it was. Two shady3Ds are simultaneously sensing and grasping a one bar in the below movie. After self-assembly, they implement an example of picking and dropping a bar in arbitraty positions.

let's build something

The below movie shows the procedure of the self-assembling of a truss tower. Twelve active modules and eight passive bars were employed to build a three-dimensional tower. The tower building is performed through the following steps.

-Four 6-DOF manipulators move to the base location of the tower and approach remaining four active modules to pick them up. Remaining modules hold passive bars to connect to the 6-DOF manipulators.

-The 6-DOF manipulators connect to four remaining active modules. The active modules held by the manipulators release the grippers gripping the ground trusses. Thus, each 6-DOF manipulator becomes a structure consisting of three active modules and two passive bars.

-The four structures formed in the previous stage arrange themselves in the desired poses. Then, they connect to their neighbors to complete the tower structure.

Reference

Yeoreum Yoon, Modular Robots for Making and Climbing 3-D Trusses, MS Thesis

Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems , Nice, France, Sep 2008

Pdf Bibtex

Author : Seung-kook Yun, Daniela Rus
Title : Optimal Distributed Planning for Self Assembly of Modular Manipulators
In : Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems -
Address : Nice, France
Date : Sep 2008

Proc. of IEEE/RSJ IEEE International Conference on Robotics and Automation , Kobe, Japan, May 2009

Pdf Bibtex

Author : Seung-kook Yun, David Alan Hjelle, Hod Lipson, Daniela Rus
Title : Planning the Reconfiguration of Grounded Truss Structures with Truss Climbing Robots that Carry Truss Elements
In : Proc. of IEEE/RSJ IEEE International Conference on Robotics and Automation -
Address : Kobe, Japan
Date : May 2009

Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems , Nice, France, Sep 2008

Pdf Bibtex

Author : Seung-kook Yun, Daniela Rus
Title : Optimal Distributed Planning for Self Assembly of Modular Manipulators
In : Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems -
Address : Nice, France
Date : Sep 2008

IEEE Robotics and Automation Magazine 14(4):45-55,2007

Pdf Bibtex

Author : Carrick Detweiler, Marsette Vona, Yeoreum Yoon, Seung-kook Yun, Daniela Rus
Title : Self-assembling Mobile Linkages
In : IEEE Robotics and Automation Magazine -
Address :
Date : 2007

Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems , San Diego, USA, October 2007

Pdf Bibtex

Author : Seung-kook Yun, Daniela Rus
Title : Optimal Distributed Planning of Multi-Robot Placement on a 3D Truss
In : Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems -
Address : San Diego, USA
Date : October 2007