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MODÜLER YENİDEN YAPILANDIRILABİLİR ROBOT MODÜLÜ OMNIMO’NUN TASARIMI VE ÜRETİMİ

Year 2016, Volume: 31 Issue: 3, 0 - 0, 06.09.2016

Ali Kılıç Sadettin Kapucu

https://doi.org/10.17341/gummfd.97989
Cited By: 2

Abstract

OMNIMO dört adet dönme ve bir adet öteleme aktif serbestlik derecesine sahip yeniden yapılandırılabilir robot modülüdür. Robotun serbestlik dereceleri sabit, serbest ve hareketli olarak kullanılabilir. Her bir robot modülü, kontrolcüler, eyleyiciler, algılayıcılar, kablosuz iletişim ünitesi, batarya, hareket mekanizmaları ve tamamlayıcı mekanik ve elektronik bileşenler ile donatılmıştır.  Robot modülü, melez ve homojen mimaride üç boyutlu çalışma uzayında tamamen otonom olarak hareket edebilecek şekildedir. Robot kendi konfigürasyonun iki farklı görev arasında dinamik olarak değiştirebilir, başka bir deyişle robot modülü kendini yeni ortamına ve duruma adapte edebilir. Ayrıca, OMNIMO daha karmaşık görevleri yerine getirebilmek için özdeş robot modülleri ile birleşebilir. OMNIMO’nun gelişmiş mekanik tasarımı sayesinde robot modülü kendini beş farklı robot tipine dönüştürebilir. Bunun yanında birden fazla robot modülü bir arada kullanılarak çok fazla robot tipi ve konfigürasyonu gerçeklenebilir. Bu makalede, özgün robot modülü OMNIMO’nun tasarım detayları ve donanım entegrasyonu verilmiştir, ayrıca tekli ve çoklu robot konfigürasyonları sunulmuştur. 

Keywords

Modüler robotlar Yeniden yapılandırılabilir robotlar; Robot Modülleri

References

  • Yim, M., Shen, W. M., Salemi, B., Rus, D., Moll, M., Lipson, H., ... & Chirikjian, G. S. “Modular self-reconfigurable robot systems [grand challenges of robotics]”, Robotics & Automation Magazine, IEEE, Cilt 14, No 1, 43-52, 2007.
  • Stoy, K., Brandt, D., Christensen, D. J., Self-Reconfigurable
  • Robots, An Introduction, The MIT Press, 2010.
  • Fukuda, T., Nakagawa, S., Kawauchi, Y., Buss, M., “Structure decision method for self organising robots based on cell structures-CEBOT”, Proc. IEEE Int. Conf. on Robotics and Automation, 695-700, 1989.
  • Fukuda, T., Nakagawa, S., “Dynamically reconfigurable robotic system”, Proc. IEEE Int. Conf. on Robotics and Automation, 1581-1586, 1988.
  • YIM, M., Locomotion with a unit-modular reconfigurable robot, Doktora Tezi. Stanford University, 1994.
  • Chirikjian, Gregory S., “Kinematics of a metamorphic robotic system”, Proc. IEEE Conf. on Robotics and Automation, 449-455, 1994
  • Castano, A., Shen, W. M., Will, P., “CONRO: Towards deployable robots with inter-robots metamorphic capabilities”, Autonomous Robots, Cilt 8, No 3, 309-324, 2000
  • Yim, M., Duff, D. G., & Roufas, K. D., “PolyBot: a modular reconfigurable robot”, Proc. IEEE Int. Conf. on Robotics and Automation, 514-520, 2000.
  • Yoshida, E., Murata, S., Kurokawa, H., Tomita, K., & Kokaji, S., “A distributed reconfiguration method for 3D homogeneous structure”, Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, 852-859, 1998
  • Kotay, K., Rus, D., Vona, M., & McGray, C., “The self-reconfiguring robotic molecule: Design and control algorithms”, Workshop on Algorithmic Foundations of Robotics, 376-386, 1998.
  • Suh, J. W., Homans, S. B., & Yim, M., “Telecubes: Mechanical design of a module for self-reconfigurable robotics”, Proc. IEEE Int. Conf. on Robotics and Automation, 4095-4101, 2002
  • Murata, S., Yoshida, E., Tomita, K., Kurokawa, H., Kamimura, A., & Kokaji, S., “Hardware design of modular robotic system”, Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, 2210-2217, 2000.
  • Rus, D., & Vona, M., “Crystalline robots: Self-reconfiguration with compressible unit modules”, Autonomous Robots, Cilt 10, No 1, 107-124, 2001.
  • Ünsal, C., Kiliççöte, H., & Khosla, P. K., “A modular self-reconfigurable bipartite robotic system: Implementation and motion planning”, Autonomous Robots, Cilt 10, No 1, 23-40, 2001.
  • Kamimura, A., Kurokawa, H., Yoshida, E., Tomita, K., Kokaji, S., & Murata, S., “Distributed adaptive locomotion by a modular robotic system M-TRAN II”, Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2370-2377, 2004.
  • Mondada, F., Pettinaro, G. C., Guignard, A., Kwee, I. W., Floreano, D., Deneubourg, J. L., ... & Dorigo, M., “SWARM-BOT: A new distributed robotic concept”, Autonomous robots, Cilt 17 No 2-3, 193-221, 2004
  • Østergaard, E. H., Kassow, K., Beck, R., & Lund, H. H., “Design of the ATRON lattice-based self-reconfigurable robot”, Autonomous Robots, Cilt 21, No 2, 165-183, 2006.
  • Goldstein, S. C., Campbell, J. D., & Mowry, T. C., “Programmable matter”, Computer, Cilt 38, No 6, 99-101, 2005.
  • Zykov, V., Phelps, W., Lassabe, N., & Lipson, H., “Molecubes extended: Diversifying capabilities of open-source modular robotics”, IROS-2008 Self-Reconfigurable Robotics Workshop, 2008.
  • Kurokawa, H., Tomita, K., Kamimura, A., Kokaji, S., Hasuo, T., & Murata, S., “Distributed self-reconfiguration of M-TRAN III modular robotic system”, The International Journal of Robotics Research, Cilt 27, No 3-4, 373-386, 2008
  • Salemi, B., Moll, M., & Shen, W. M., “SUPERBOT: A deployable, multi-functional, and modular self-reconfigurable robotic system”, Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3636-3641, 2006
  • Moeckel, R., Jaquier, C., Drapel, K., Dittrich, E., Upegui, A., & Jan Ijspeert, A., “Exploring adaptive locomotion with YaMoR, a novel autonomous modular robot with Bluetooth interface”, Industrial Robot: An International Journal, Cilt 33, No 4, 285-290, 2006.
  • Gonzalez-Gomez, J., & Boemo, E., “Motion of minimal configurations of a modular robot: sinusoidal, lateral rolling and lateral shift”, Climbing and Walking Robots Springer Berlin Heidelberg, 667-674, 2006.
  • Gilpin, K., Kotay, K., Rus, D., & Vasilescu, I., “Miche: Modular shape formation by self-disassembly”, The International Journal of Robotics Research, Cilt 27, No 3-4, 345-372, 2008.
  • Sproewitz, A., Billard, A., Dillenbourg, P., & Ijspeert, A. J., “Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture”, Proc. IEEE Int. Conf. on Robotics and Automation, 4259-4264, 2009.
  • Wei, H., Chen, Y., Tan, J., & Wang, T., “Sambot: A self-assembly modular robot system”, IEEE/ASME Transactions on Mechatronics, Cilt 16, No 4, 745-757, 2011.
  • Davey, J., Kwok, N., & Yim, M., “Emulating self-reconfigurable robots-design of the smores system”, Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 4464-4469, 2012

Year 2016, Volume: 31 Issue: 3, 0 - 0, 06.09.2016

Ali Kılıç Sadettin Kapucu

https://doi.org/10.17341/gummfd.97989
Cited By: 2

Abstract

References

  • Yim, M., Shen, W. M., Salemi, B., Rus, D., Moll, M., Lipson, H., ... & Chirikjian, G. S. “Modular self-reconfigurable robot systems [grand challenges of robotics]”, Robotics & Automation Magazine, IEEE, Cilt 14, No 1, 43-52, 2007.
  • Stoy, K., Brandt, D., Christensen, D. J., Self-Reconfigurable
  • Robots, An Introduction, The MIT Press, 2010.
  • Fukuda, T., Nakagawa, S., Kawauchi, Y., Buss, M., “Structure decision method for self organising robots based on cell structures-CEBOT”, Proc. IEEE Int. Conf. on Robotics and Automation, 695-700, 1989.
  • Fukuda, T., Nakagawa, S., “Dynamically reconfigurable robotic system”, Proc. IEEE Int. Conf. on Robotics and Automation, 1581-1586, 1988.
  • YIM, M., Locomotion with a unit-modular reconfigurable robot, Doktora Tezi. Stanford University, 1994.
  • Chirikjian, Gregory S., “Kinematics of a metamorphic robotic system”, Proc. IEEE Conf. on Robotics and Automation, 449-455, 1994
  • Castano, A., Shen, W. M., Will, P., “CONRO: Towards deployable robots with inter-robots metamorphic capabilities”, Autonomous Robots, Cilt 8, No 3, 309-324, 2000
  • Yim, M., Duff, D. G., & Roufas, K. D., “PolyBot: a modular reconfigurable robot”, Proc. IEEE Int. Conf. on Robotics and Automation, 514-520, 2000.
  • Yoshida, E., Murata, S., Kurokawa, H., Tomita, K., & Kokaji, S., “A distributed reconfiguration method for 3D homogeneous structure”, Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, 852-859, 1998
  • Kotay, K., Rus, D., Vona, M., & McGray, C., “The self-reconfiguring robotic molecule: Design and control algorithms”, Workshop on Algorithmic Foundations of Robotics, 376-386, 1998.
  • Suh, J. W., Homans, S. B., & Yim, M., “Telecubes: Mechanical design of a module for self-reconfigurable robotics”, Proc. IEEE Int. Conf. on Robotics and Automation, 4095-4101, 2002
  • Murata, S., Yoshida, E., Tomita, K., Kurokawa, H., Kamimura, A., & Kokaji, S., “Hardware design of modular robotic system”, Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, 2210-2217, 2000.
  • Rus, D., & Vona, M., “Crystalline robots: Self-reconfiguration with compressible unit modules”, Autonomous Robots, Cilt 10, No 1, 107-124, 2001.
  • Ünsal, C., Kiliççöte, H., & Khosla, P. K., “A modular self-reconfigurable bipartite robotic system: Implementation and motion planning”, Autonomous Robots, Cilt 10, No 1, 23-40, 2001.
  • Kamimura, A., Kurokawa, H., Yoshida, E., Tomita, K., Kokaji, S., & Murata, S., “Distributed adaptive locomotion by a modular robotic system M-TRAN II”, Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2370-2377, 2004.
  • Mondada, F., Pettinaro, G. C., Guignard, A., Kwee, I. W., Floreano, D., Deneubourg, J. L., ... & Dorigo, M., “SWARM-BOT: A new distributed robotic concept”, Autonomous robots, Cilt 17 No 2-3, 193-221, 2004
  • Østergaard, E. H., Kassow, K., Beck, R., & Lund, H. H., “Design of the ATRON lattice-based self-reconfigurable robot”, Autonomous Robots, Cilt 21, No 2, 165-183, 2006.
  • Goldstein, S. C., Campbell, J. D., & Mowry, T. C., “Programmable matter”, Computer, Cilt 38, No 6, 99-101, 2005.
  • Zykov, V., Phelps, W., Lassabe, N., & Lipson, H., “Molecubes extended: Diversifying capabilities of open-source modular robotics”, IROS-2008 Self-Reconfigurable Robotics Workshop, 2008.
  • Kurokawa, H., Tomita, K., Kamimura, A., Kokaji, S., Hasuo, T., & Murata, S., “Distributed self-reconfiguration of M-TRAN III modular robotic system”, The International Journal of Robotics Research, Cilt 27, No 3-4, 373-386, 2008
  • Salemi, B., Moll, M., & Shen, W. M., “SUPERBOT: A deployable, multi-functional, and modular self-reconfigurable robotic system”, Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3636-3641, 2006
  • Moeckel, R., Jaquier, C., Drapel, K., Dittrich, E., Upegui, A., & Jan Ijspeert, A., “Exploring adaptive locomotion with YaMoR, a novel autonomous modular robot with Bluetooth interface”, Industrial Robot: An International Journal, Cilt 33, No 4, 285-290, 2006.
  • Gonzalez-Gomez, J., & Boemo, E., “Motion of minimal configurations of a modular robot: sinusoidal, lateral rolling and lateral shift”, Climbing and Walking Robots Springer Berlin Heidelberg, 667-674, 2006.
  • Gilpin, K., Kotay, K., Rus, D., & Vasilescu, I., “Miche: Modular shape formation by self-disassembly”, The International Journal of Robotics Research, Cilt 27, No 3-4, 345-372, 2008.
  • Sproewitz, A., Billard, A., Dillenbourg, P., & Ijspeert, A. J., “Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture”, Proc. IEEE Int. Conf. on Robotics and Automation, 4259-4264, 2009.
  • Wei, H., Chen, Y., Tan, J., & Wang, T., “Sambot: A self-assembly modular robot system”, IEEE/ASME Transactions on Mechatronics, Cilt 16, No 4, 745-757, 2011.
  • Davey, J., Kwok, N., & Yim, M., “Emulating self-reconfigurable robots-design of the smores system”, Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 4464-4469, 2012
There are 28 citations in total.

Details

Journal Section Makaleler
Authors

Ali Kılıç

Sadettin Kapucu

Publication Date September 6, 2016
Submission Date July 24, 2015
Published in Issue Year 2016 Volume: 31 Issue: 3

Cite

APA Kılıç, A., & Kapucu, S. (2016). MODÜLER YENİDEN YAPILANDIRILABİLİR ROBOT MODÜLÜ OMNIMO’NUN TASARIMI VE ÜRETİMİ. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi, 31(3). https://doi.org/10.17341/gummfd.97989
AMA Kılıç A, Kapucu S. MODÜLER YENİDEN YAPILANDIRILABİLİR ROBOT MODÜLÜ OMNIMO’NUN TASARIMI VE ÜRETİMİ. GUMMFD. September 2016;31(3). doi:10.17341/gummfd.97989
Chicago Kılıç, Ali, and Sadettin Kapucu. “MODÜLER YENİDEN YAPILANDIRILABİLİR ROBOT MODÜLÜ OMNIMO’NUN TASARIMI VE ÜRETİMİ”. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi 31, no. 3 (September 2016). https://doi.org/10.17341/gummfd.97989.
EndNote Kılıç A, Kapucu S (September 1, 2016) MODÜLER YENİDEN YAPILANDIRILABİLİR ROBOT MODÜLÜ OMNIMO’NUN TASARIMI VE ÜRETİMİ. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi 31 3
IEEE A. Kılıç and S. Kapucu, “MODÜLER YENİDEN YAPILANDIRILABİLİR ROBOT MODÜLÜ OMNIMO’NUN TASARIMI VE ÜRETİMİ”, GUMMFD, vol. 31, no. 3, 2016, doi: 10.17341/gummfd.97989.
ISNAD Kılıç, Ali - Kapucu, Sadettin. “MODÜLER YENİDEN YAPILANDIRILABİLİR ROBOT MODÜLÜ OMNIMO’NUN TASARIMI VE ÜRETİMİ”. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi 31/3 (September 2016). https://doi.org/10.17341/gummfd.97989.
JAMA Kılıç A, Kapucu S. MODÜLER YENİDEN YAPILANDIRILABİLİR ROBOT MODÜLÜ OMNIMO’NUN TASARIMI VE ÜRETİMİ. GUMMFD. 2016;31. doi:10.17341/gummfd.97989.
MLA Kılıç, Ali and Sadettin Kapucu. “MODÜLER YENİDEN YAPILANDIRILABİLİR ROBOT MODÜLÜ OMNIMO’NUN TASARIMI VE ÜRETİMİ”. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi, vol. 31, no. 3, 2016, doi:10.17341/gummfd.97989.
Vancouver Kılıç A, Kapucu S. MODÜLER YENİDEN YAPILANDIRILABİLİR ROBOT MODÜLÜ OMNIMO’NUN TASARIMI VE ÜRETİMİ. GUMMFD. 2016;31(3).

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https://doi.org/10.17341/gazimmfd.900459
Electronic System and Software Architecture of Modular Reconfigurable Robot Module OMNIMO
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