The mechanical design of a novel robotic module for a self-reconfigurable modular robotic system is presented in this paper. The robotic module, named Scout robot, was designed to serve both as a fully sensorized autonomous miniaturized robot for exploration in unstructured environments and as a module of a larger robotic organism. The Scout robot has a quasi-cubic shape of 105 mm × 105 mm × 123.5 mm, and weighs less than 1 kg. It is provided with tracks for 2-D locomotion and with two rotational DoFs for reconfiguration and macrolocomotion when assembled in a modular structure. A laser sensor was incorporated to measure the distance and relative angle to an object, and image-guided locomotion was successfully demonstrated. In addition, five Scout robot prototypes were fabricated, and multimodal locomotion of assembled robots was demonstrated.

Design of a Robotic Module for Autonomous Exploration and Multimode Locomotion

RUSSO, Sheila;RANZANI, Tommaso;STEFANINI, CESARE;MENCIASSI, Arianna;DARIO, Paolo
2013-01-01

Abstract

The mechanical design of a novel robotic module for a self-reconfigurable modular robotic system is presented in this paper. The robotic module, named Scout robot, was designed to serve both as a fully sensorized autonomous miniaturized robot for exploration in unstructured environments and as a module of a larger robotic organism. The Scout robot has a quasi-cubic shape of 105 mm × 105 mm × 123.5 mm, and weighs less than 1 kg. It is provided with tracks for 2-D locomotion and with two rotational DoFs for reconfiguration and macrolocomotion when assembled in a modular structure. A laser sensor was incorporated to measure the distance and relative angle to an object, and image-guided locomotion was successfully demonstrated. In addition, five Scout robot prototypes were fabricated, and multimodal locomotion of assembled robots was demonstrated.
2013
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11382/356042
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