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Towards Artificial ATRON Animals:Scalable Anatomy for Self-Reconfigurable Robots
David J. Christensen, David Brandt & Kasper Støy
Robotics: Science & Systems Workshop on Self-Reconfigurable Modular Robots
August 2006
David Johan ChristensenPh.D-Student
Adaptronics Group, Mærsk InstituteUniversity of Southern Denmark
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Overview
• Why study Self-Reconfigurable robots?• The ATRON system.• Scaling the robot.• Challenge of Scalable Functionality• Scalable Anatomy for ATRON robots• Discussion, Future work & Summary
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Why Study Self-Reconfigurable Robots?
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Purpose from Scientific Perspective?
• Understand, explain and recreate the characteristics of life!!
Biological Organism
Biological Organism
CellsCells
BiologicalSpecies
BiologicalSpecies
Self-OrganizeSelf-Assemble (Chemicals)Self-Reproduce (Division)
Self-SufficientSelf-Contained
Self-MaintainedAutonomousAdapt & LearnSelf-AssembleSelf-RepairSelf-Reproduce
Intelligent & Conscious
EvolveCEBOTCATOMCONROM-TRAN3D-UNITFRACTA
POLYBOTMOLECULESUPERBOTMOLECUBE
CRYSTALLINEMETAMORPHICMany other …….
RobotRobot
RoboticModules
RoboticModules
RoboticSpecies
RoboticSpecies
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Purpose from Engineering Perspective?
• We want to build Better Robots!• Why should it Modular?
– Multi-Purpose => Versatility (by clever design)– Mass-Produce => Low Cost – Extendable => Scalable
• Why should it be Self-Reconfigurable?– Self-Repair => Reliable & Robust (from redundancy)– Self-Assembly => Automated Production– Adaptation => Increased Performance (both functional and
morphological adaptation)
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ATRON
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Our Platform: The ATRON System
• Module Characteristics:– Single degree of freedom– 4 male, 4 female connectors– Batteries (had power sharing)– Computation, communication, – Sensing: Distance, Tilt, Encoders– 800 grams pr. module
• Manufactured: 100 modules
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Versatility of the ATRON System
• Manipulation & Locomotion
(Real Time)
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Versatility of the ATRON System
• Self-Reconfiguration
(8x Speed)
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Scaling
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• Scaling down module size (cm to µm)• Scaling up number of modules (tens to millions)
• Why?– Closer to the cell metaphor. – Improve engineering metrics (e.g. resolution of shape)
Scaling the Robot
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Scalability Challenges of Self-Reconfigurable Robots
• What are the Challenges?
– Hardware• What to build?
– Self-Reconfiguration• Morph between configurations.
– Functionality (THIS TALK!)• Fast responding and functional robots.
– Many other challenges….
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Challenge of Scalable Functionality
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Number of Cells/ModulesThe Challenge of Scalable Functionality
Speed of Response
Complexity of Functionality
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What is the problem anyway?
• Self-Reconfiguration too slow: (for fast response)– Slower with more modules (more moving)– Faster with smaller modules (faster modules)
• Modules are locked rigidly:– Modules are stuck in a global lattice.– Actuation Forces does not add up.
• So scaling functionality is hard.– Functionality do not transfer from a 10 to a 1000 module robot
Functionality reduces to self-reconfiguration.
Basically constant with volume.
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How can we approach the problem?
Artificial Creature
Artificial Creature
RoboticModules
RoboticModules
Computers, Actuators, Sensors, Gears…
ScalableAnatomy
ScalableAnatomy
• How to build Myriad-Module Robots?– Functional & Fast-Responding
• Approach: Defining a Robot Anatomy– Biological Inspired by Animal Anatomies– Scalable Anatomically Structures
• Bone, joints, muscles, nerves, etc..
Scalable Anatomy
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Where does this comes from?
CellsCells
TissuesTissues
OrgansOrgans
AnimalAnimal
ModulesModules
CellularInspiration
AnatomicallyStructures
AnatomicallyStructures
RobotRobot
Anatomi Inspiration
• Hieratical Organization of cells• Differentiation dependent on role in organism
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ATRON Anatomy
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Moving from idea to system…
• ATRON Anatomy– ATRON-Nerve– ATRON-Arteries – ATRON-Bone– ATRON-Joint– ATRON-Muscle– ATRON-Skin
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ATRON Anatomy: Neurons and Arteries
Notation
• ATRON-Artery– Transportation of energy ~ Power sharing
• ATRON-Neuron– Computation ~ Microprocessors– Coordination ~ IR-Communication– Sensing ~ Sensors
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ATRON Anatomy: Bone
Femur Bone ATRON Bone
• ATRON-Bone– Support Weight of Robot.– Strong Connector.– Lattice Interconnection.– Scales in 3D.
0.067MPa*
720kg/m^3
ATRON-Bone
1900 kg/m^3Density
50MPaYield Strength
Bio-Bone
*Østergaard et al., Design of the ATRON lattice-based self-reconfigurable robot. Autonomous Robots, to appear, 2006.
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ATRON Anatomy: Hinge Joint
Hinge Joint
• ATRON-Joints – Connection and relative rotation of bones.
• Hinge Joint– Scales along rotational axes.– Reversible to global lattice.
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ATRON Anatomy: Ball-Socket Joints
Ball-Socket JointHip Joint
• ATRON-Joints – Connection and relative rotation of bones.
• Ball-Socket Joint– Scalable in 3D.– Reversible to global lattice using muscles
as anchors.
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ATRON Anatomy: Muscle
• ATRON-Muscles– Actuation of myriad-module robot– Parallelizable to achieve scalability
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ATRON Anatomy: Skin
• ATRON-Skin– Purpose: e.g. protection from environment.– ATRON Surfaces that can deform and stretch– However:
• Rigid constraints on ATRON
• Full of Holes
Two sheets patterns for skin
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Discussion, Future work & Summary
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Lesson Learned…
• Will it ever work?– Probably not with the ATRON alone…
• Why not?– Morphological differentiation of modules seems necessary:
• Functional differentiation are not enough.• 210 different cell types in adult human
• What then? (Future work)– Collect more experience from different systems:
• Which anatomical structures?• How to combine anatomical structures?
– Design novel SR system based on scalable anatomy.
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Summary
• Challenge of Scalable Functionality:– Fast responsive functionality myriad-module robots…
• Our Approach:– Biological Inspired Scalable Anatomy.– Anatomical Parts: Bone, Joint, Muscle, Skin, Nerve.
• Scalable Anatomy for ATRON System.
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