NDLI: HiGen: A high-speed genderless mechanical connection mechanism with single-sided disconnect for self-reconfigurable modular robots

Content Provider	IEEE Xplore Digital Library
Author	Parrott, C. Dodd, T.J. Gross, R.
Copyright Year	2014
Description	Author affiliation: Sheffield Centre for Robot., Univ. of Sheffield, Sheffield, UK (Parrott, C.; Dodd, T.J.; Gross, R.)
Abstract	The practical effectiveness of modular robotic systems depends heavily on the connection mechanisms used to join their separate entities, particularly for those systems capable of self-reconfiguration. This work presents HiGen, a high-speed genderless mechanical connection mechanism for the docking of robotic modules. HiGen connectors can join with one another in a manner that allows either side to disconnect in the event of failure. During connection electrical contacts are mated, supporting the concurrent use of local and global communication protocols, as well as power sharing techniques. Rapid actuation of the mechanism allows connections to be made and broken at a speed that is, to our knowledge, an order of magnitude faster than existing mechanical genderless approaches that feature single-sided disconnect, benefiting the reconfiguration time of modular robots. The HiGen connector is intended for future work in modular robotics, but could also see use in other areas of robotics for tool and payload attachment.
Starting Page	3926
Ending Page	3932
File Size	3816300
Page Count	7
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6943114
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Contacts Robots Force Pins Magnetic separation Magnetomechanical effects
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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