NDLI: Development of a genderless and fail-safe connection system for autonomous modular robots

Content Provider	IEEE Xplore Digital Library
Author	Guoqiang Fu Menciassi, A. Dario, P.
Copyright Year	2011
Description	Author affiliation: Center for Intelligent and Biomimetic Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Scineces, Shenzhen, 518055 China, The Chinese University of Hongkong, Hong Kong, China (Guoqiang Fu) \|\| The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, 56025 Italy (Menciassi, A.; Dario, P.)
Abstract	One of the most challenging tasks on developing hardware of modular robots is to design a reliable and flexible connection system. This paper presents the design and implementation of a GENderless and FAil-safe (GENFA) connection system for autonomous modular robots that possesses self-assembly, self-reconfiguration and self-healing capabilities. By using the GENFA connector, a group of autonomous modular robots can assemble into a single robotic organism. With robust mechanical and electrical connection, a single robotic organism can disassemble into a set of disconnected units. In this paper, the detailed design of a connection system is presented. Then, mechanical strength and misalignment tolerance are studied theoretically. Some experimental tests are conducted with miniature mobile robots, and some experimental results show that the GENFA connection system is power efficient, fail-safe, and has limited misalignment tolerance.
Starting Page	877
Ending Page	882
File Size	580398
Page Count	6
File Format	PDF
ISBN	9781457721366
e-ISBN	9781457721380
DOI	10.1109/ROBIO.2011.6181398
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-07
Publisher Place	Thailand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Pins Mobile robots Gears Robot sensing systems Organisms
Content Type	Text
Resource Type	Article

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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
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