Self-assembled modular robots

Abstract

A self-assembled modular robot, including a head module and identical body modules that can be increased or decreased arbitrarily, and the modules are connected by a claw-bolt mechanism. The head module mainly includes the functional cabin and the yaw joint sub-module, and the body module mainly includes the connecting body, the pitch joint and the yaw joint sub-module. The head and body modules are integrated with drive, power supply, communication and control units, which is a complete intelligent body, and the modules can cooperate to form a multi-agent system. Multiple modules can be assembled autonomously to form a complete snake-like robot, and the robot can also be disassembled autonomously to form a multi-agent system. The invention is a novel modular robot, and multiple modules can be independently assembled and disassembled according to actual needs, thus having wide applications.

Description

technical field [0001] The invention belongs to the technical field of modular robots. Background technique [0002] Modular robots can adapt to various complex environments, such as sandy land, grass, trees, pipes, and post-disaster ruins, because they can increase or decrease the number of modules and change their shape at the same time. From the perspective of functional independence, non-independent modular robots are currently the most widely used. Each module of the robot cannot work independently and needs to be connected with other modules to complete specific tasks. Each module has its own drive system, but all modules All share the same power supply, communication and control systems; the other is an independent modular robot, each module of the robot integrates its own drive, power supply, communication and control system, so each module can work independently, each module can cooperate with each other. [0003] Scholars in related fields at home and abroad have...

AI Technical Summary

Problems solved by technology

For bionic snake-like robots, Tokyo Institute of Technology, Japan [1] , Japan Electro-Communication University [2] , Carnegie Mellon University [3] , Swiss Federal Institute of Technology [4] and Shenyang Institute of Automation, Chinese Academy of Sciences [5] have developed a variety of modular snake-like robots. The pitch and yaw joints of this type of robot are connected orthogonally, which can imitate the flexible movement of natural snakes. However, the modules cannot work independently and need to cooperate with other modules to move.

Another class of modular home robots from Swiss Federal Institute of Technology [6] and a multi-module mobile robot developed by the Brussels Polytechnic University [7] , each module of this type of robot can work independently, the modules can cooperate with each other, and can also be connected to each other, but the connection strength between modules is relatively limited, and the connection process requires human participation

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