# Shady3D

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{| {| - |valign=center|[[Image:shady-whole.jpg |frame|shady3d: 2 barrel joints + middle joint for 3D motion]] + |valign="middle"|[[Image:shady-whole.jpg|thumb|350px| shady3d: 2 barrel joints + middle joint for 3D motion]] - |valign=center|[[Image:shady3d-env.jpg |frame|truss structure where a shady3d is moving]] + |valign="middle"|[[Image:shady3d-env.jpg|thumb|300px| truss structure where a shady3d is moving]] |} |}
+ == New Shadys for 3-D climbing == == New Shadys for 3-D climbing == Line 13: Line 14: == what's new? == == what's new? == - '''Arbitrary motion with 2-shady3Ds''' + '''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. We can build a 6-DOF manipulator with two 3-DOF modules and a passive truss element, or a passive bar. - [[Image:two-coop-c.jpg |frame|center|6-dof motion is possible by the cooperation of 2 robots]] +
- [[Image:shadywithbarFull.avi|frame|center|two shadys are constructing a 6-dof manipulator with a free bar[[Media:shadywithbarFull.avi|(avi)]].]] + {| + |valign="middle"|[[Image:two-coop-c.jpg|thumb|400px|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. + +
+ {| + |valign="middle"|[[Image:assembly.avi|thumb=constructing.jpg|400px|two shadys are constructing a 6-dof manipulator with a free bar[[Media:shadywithbarFull.avi|(avi)]].]] + |} +
'''let's build something''' '''let's build something''' - The below picture 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. + 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. -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. Line 30: Line 41: -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. -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. +
+ {| + |valign="middle"|[[Image:Shady3D-building a tower block-divx.avi|thumb=Shady3D-building a tower block.jpg|300px|Multi shadys are building an active structure]] + |valign="middle"|[[Image:Shady3D-moving tower block-divx.avi|thumb=Shady3D-moving tower block-div.jpg|300px|The tower is moving with shady3Ds]] + |} +
+ == Reference == - [[Image:towerBuilding.jpg|frame|center|Multi shadys are building an active structure]] + Yeoreum Yoon, [[Publications#yeoreum-MSthesis|Modular Robots for Making and Climbing 3-D Trusses]], MS Thesis + + @inproceedings{yunsk:IROS2008, + author = {Seung-kook Yun and Daniela Rus}, + title = {Optimal Distributed Planning for Self Assembly of Modular Manipulators}, + booktitle = {Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems}, + year = {2008}, + address = {Nice, France}, + month = {Sep}, + pdf = {IROS2008_yunsk.pdf} + } + - == Reference == + + @inproceedings{yunsk:ICRA2009_cornell, + author = {Seung-kook Yun and David Alan Hjelle and Hod Lipson and Daniela Rus}, + title = {Planning the Reconfiguration of Grounded Truss Structures with Truss Climbing Robots that Carry Truss Elements}, + booktitle = {Proc. of IEEE/RSJ IEEE International Conference on Robotics and Automation}, + year = {2009}, + address = {Kobe, Japan}, + month = {May} + pdf = {1292truss.pdf} + } + - Yeoreum Yoon, [[Publications#yeoreum-MSthesis|Modular Robots for Making and Climbing 3-D Trusses]], MS Thesis + + @inproceedings{yunsk:IROS2008, + author = {Seung-kook Yun and Daniela Rus}, + title = {Optimal Distributed Planning for Self Assembly of Modular Manipulators}, + booktitle = {Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems}, + year = {2008}, + address = {Nice, France}, + month = {Sep}, + pdf = {IROS2008_yunsk.pdf} + } + + + + @article{TRAM2007, + author = {Carrick Detweiler and Marsette Vona and Yeoreum Yoon and Seung-kook Yun and Daniela Rus}, + title = {Self-assembling Mobile Linkages}, + journal = "IEEE Robotics and Automation Magazine", + year = "2007", + volume="14(4)", + pages = "45-55", + pdf = {TRAM2007.pdf} + } + + + + @inproceedings{yunsk:IROS2007, + author = {Seung-kook Yun and Daniela Rus}, + title = {Optimal Distributed Planning of Multi-Robot Placement on a 3D Truss}, + booktitle = {Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems}, + year = {2007}, + address = {San Diego, USA}, + month = {October}, + pdf = {yunsk_IROS2007.pdf} + } +

## Latest revision as of 22:27, 27 October 2009

 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

Seung-kook Yun, Daniela Rus - Optimal Distributed Planning for Self Assembly of Modular Manipulators
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
Seung-kook Yun, David Alan Hjelle, Hod Lipson, Daniela Rus - Planning the Reconfiguration of Grounded Truss Structures with Truss Climbing Robots that Carry Truss Elements
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
Seung-kook Yun, Daniela Rus - Optimal Distributed Planning for Self Assembly of Modular Manipulators
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
Carrick Detweiler, Marsette Vona, Yeoreum Yoon, Seung-kook Yun, Daniela Rus - Self-assembling Mobile Linkages
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
Seung-kook Yun, Daniela Rus - Optimal Distributed Planning of Multi-Robot Placement on a 3D Truss
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