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id ecaade2017_089
authors Petrš, Jan, Havelka, Jan, Florián, Miloš and Novák, Jan
year 2017
title MoleMOD - On Design specification and applications of a self-reconfigurable constructional robotic system
source Fioravanti, A, Cursi, S, Elahmar, S, Gargaro, S, Loffreda, G, Novembri, G, Trento, A (eds.), ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference - Volume 2, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 159-166
summary The paper explores the use of in-house developed self-reconfigurable modular robotic system in civil construction activities and investigates a concept where an arbitrary Civil Engineering structure or a daily use industrial product are self-assembled from a number of self-reconfigurable composite blocks. The system extends current range of modular robot systems (mDrs) where autonomous modules self-assemble into a wide variety of forms. However, contrary to conventional mDrs, MoleMOD has not mechatronic actuating parts permanently fixed to each individual module. The MoleMOD actuators are separable and operate inside the modules, tight them together or relocate them to required configuration. It significantly reduces number of expensive mechatronics parts and the environment the actuators operate. Although MoleMOD focuses on architecture, it can take over other mDrs tasks as research and rescue. This paper describes properties, advantages, foreseen applications, and basic design specifications of the second generation prototype.
keywords Modular robotic systems; Mobile robotic systems; Adaptive architecture; MoleMOD; Smart materials and structures; Multi-robot systems
series eCAADe
email petrsjan@fa.cvut.cz
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