![(a) Rendered visualization of one Roombots metamodule on the left and a single Roombots module on the right. Rectangular connector plates (yellow/green) are embedded in the floor. (b) Roombots module (real picture). (c) Three DOF per Roombots module: red axes are outer DOF, the blue DOF is rotating the two sphere-like parts of a Roombots module against each other. The ability to freely swivel the two outer joints against each other distinguishes a single Roombots module from plugging two Molecube [28] modules together. This loosely follows the concept of adding a center joint in Superbot [30], compared to M-TRAN II [31].](https://www.researchgate.net/profile/Alexander-Badri-Sproewitz/publication/44198755/figure/fig1/AS:394316217372674@1471023720505/a-Rendered-visualization-of-one-Roombots-metamodule-on-the-left-and-a-single-Roombots_Q320.jpg)
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Roombots: Reconfigurable Robots for Adaptive Furniture
Abstract and Figures
Imagine a world in which our furniture moves around like legged robots, interacts with us, and changes shape and function during the day according to our needs. This is the long term vision we have in the Roombots project. To work towards this dream, we are developing modular robotic modules that have rotational degrees of freedom for locomotion as well as active connection mechanisms for runtime reconfiguration. A piece of furniture, e.g. a stool, will thus be composed of several modules that activate their rotational joints together to implement locomotor gaits, and will be able to change shape, e.g. transforming into a chair, by sequences of attachments and detachments of modules. In this article, we firstly present the project and the hardware we are currently developing. We explore how reconfiguration from a configuration A to a configuration B can be controlled in a distributed fashion. This is done using metamodules-two Roombots modules connected serially-that use broadcast signals and connections to a structured ground to collectively build desired structures without the need of a centralized planner. We then present how locomotion controllers can be implemented in a distributed system of coupled oscillators-one per degree of freedom-similarly to the concept of central pattern generators (CPGs) found in the spinal cord of vertebrate animals. The CPGs are based on coupled phase oscillators to ensure synchronized behavior and have different output filters to allow switching between oscillations and rotations. A stochastic optimization algorithm is used to explore optimal CPG configurations for different simulated Roombots structures.
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... The MTran has lead the hybrid-type SRMRs in the field, such as the Roombots (Spröwitz et al., 2010) The hybrid-type structural formation has been more popular in recent years (Bie et al., 2016;Pfotzer et al., 2014;Reddy et al., 2017; T. Zhang et al., 2015). This shows us that the trend in combining some basic functions to enhance the outcomes of proposed SRMRs is an attracting idea and more prototypes of the hybrid type seen soon. ...
... Most of the time, the lattice-type SRMRs were encountered when considering the tasks assigned for the flat terrain environments. Such structures (Østergaard et al., 2006;Spröwitz et al., 2010), applying a sandbox approach (Thalamy et al., 2021(Thalamy et al., , 2022 and million modules march (Kirby et al., 2007;Rubenstein et al., 2014) are examples to this section. ...
... In the controller phase, a two-layered process is developed. The outer layer deals with the structural optimization such as choosing the efficient movement type, whereas the inner layer deals with the parameter optimization based on the chosen movement type (Spröwitz et al., 2010). A generic view of the Roombots is shown in Figure 39b (Spröwitz et al., 2010). ...
In this study, a comprehensive review of achievements in the self‐reconfigurable modular robotics field and future directions are given. Self‐reconfigurable modular robots (SRMRs) are known as autonomous kinematic machines that can change their shape by rearranging the connectivity of their modules to perform new tasks, adapt to changing circumstances, and recover from damage. Versatility, reliability, and low‐cost are the fundamental promises of SRMRs when compared with conventional robots. This study emphasized the achievements in the field considering the promises and identified the gaps to be filled in the future. The main distinguishing feature of an SRMR is the capability of configuring its shape during operation. Flexibility in shape supported by appropriate controller strategies brings flexibility in task assignment. Classification of SRMRs is enriched by adding a new section based on assigned tasks to the robot. In addition, the classification based on mechanical and controller design aspects is thoroughly inspected in our study. A new subsection of material selection is introduced in the mechanical design aspects section. Adding these sections to the classification is the main difference between our study and the previous review studies. It is expected that the SRMRs field will have more interactions with materials science in the future. The study is concluded by emphasizing the promises of SRMRs and giving a future vision of the field.
... A medida que el número de módulos crece, la complejidad aumenta inexorablemente Yim et al. (2002). Por ejemplo, Roombots se presenta como un conjunto de módulos que permiten la locomoción como si de un vehículo se tratara, así como mecanismos de conexión activa para la reconfiguración del tiempo de ejecución Sprowitz et al. (2010). La coordinación de los módulos se realiza mediante redes neuronales CPG (generadores de patrones centrales) que producen patrones coordinados de actividad rítmica sin ninguna entrada de retroalimentación sensorial Spröwitz et al. (2014). ...
Este artículo presenta el robot ROMERIN, un organismo robótico modularmente compuesto por patas que utilizan ventosas activas como sistema de adhesión al entorno, y cuyo objetivo es la inspección de infraestructuras mediante la escalada. Se detalla la estructura física del organismo robótico, incluyendo una explicación de los módulos y del cuerpo. También se incluye una descripción de la arquitectura de control basada en el control en par de la posición del cuerpo del organismo, cuyo número de patas y disposición de las mismas es variable de forma que el sistema es versátil para su utilización en diferentes entornos y aplicaciones. La arquitectura de control que se ha diseñado sirve de base para el control de robots escaladores con patas de cualquier número de patas. Se ha comprobado su funcionamiento en el robot físico ROMERIN y en su gemelo digital (“digital twin”), registrando y mostrando dichos resultados. Además, se ha comprobado el funcionamiento de la arquitectura de control para diferentes configuraciones del organismo, demostrando su modularidad y versatilidad para diferentes aplicaciones.
... As the number of modules increases, the complexity of many of the computational tasks explodes [13]. Roombots is a set of robotic modules that have rotational degrees of freedom for locomotion, as well as active connection mechanisms for runtime reconfiguration [33]. Modules coordination is performed by neural networks CPGs (central pattern generators) that produce coordinated patterns of rhythmic activity without any rhythmic inputs from sensory feedback or from higher control centers [34]. ...
MoCLORA (Modular Climbing-and-Legged Robotic Organism Architecture) is a software framework for climbing bio-inspired robotic organisms composed of modular robots (legs). It is presented as a modular low-level architecture that coordinates the modules of an organism with any morphology, at the same time allowing exchanges between the physical robot and its digital twin. It includes the basic layers to control and coordinate all the elements, while allowing adding new higher-level components to improve the organism’s behavior. It is focused on the control of both the body and the legs of the organism, allowing for position and velocity control of the whole robot. Similarly to insects, which are able to adapt to new situations after the variation on the capacity of any of their legs, MoCLORA allows the control of organisms composed of a variable number of modules, arranged in different ways, giving the overall system the versatility to tackle a wide range of tasks in very diverse environments. The article also presents ROMERIN, a modular climbing and legged robotic organism, and its digital twin, which allows the creation of different module arrangements for testing. MoCLORA has been tested and validated with both the physical robot and its digital twin.
... Robotics researchers have also developed adaptive furniture (Sproewitz et al., 2009;Sabinson et al., 2021). Spröwitz et al. (2010) present Roombots: modular robots for reconfigurable furniture. For example, changing from a stool to a bench or a tabletop. ...
... The embodied simulation hypothesis suggests that both nondeclarative and declarative culture -both »know how« knowledge and »know that« knowledge -are experienced through the body. This does not happen because experiences pass through the body to be written on the mind and semiotically processed (as, e. g., Alexander's [2010] notion of »iconic consciousness« suggests). Instead, nondeclarative and declarative culture reside in the body as powerfully as they reside in the mind. ...
Ob Hund oder Amöbe, Algorithmus oder künstliches Haustier, ob virtuell oder materialisiert, ob wahrnehmbar oder im Hintergrund – der Mensch ist nicht allein. Er teilt die Welt mit Entitäten und Wesenheiten auf eine Weise, die in ihrer Vielfältigkeit kaum abzusehen ist. Nur eines ist dabei schon jetzt klar: Die Modalitäten des Zusammenlebens in multispecies societies fügen sich nicht mehr den gewohnten Vorstellungen von Subjekt und Objekt, von innen und außen, von Herr- und Knechtschaft, von Rationalität und Gefühl. Vielmehr bricht sich die Erkenntnis Bahn, dass der Mensch auf andere Arten angewiesen ist. Und er tut gut daran, neue Formen der Verwandtschaftsverhältnisse einzugehen, ohne bloß den Träumen von Enhancement zu verfallen. Allein durch Gesten der Reduktion, wie Stefan Rieger zeigt, wird eine umfassendere Teilhabe ermöglicht. Und nur in Form veränderter Kooperationen und Kollaborationen, in Anerkennung anderer Handlungsmächte und einer Ethik, die nicht ausschließlich den Menschen im Blick hat, ist eine angemessene Reaktion auf die neue Welt von Menschen und Nicht-Menschen zu finden.
Over the last decades, population growth in urban areas and the subsequent rise in demand for housing have resulted in significant space and housing shortages. This paper investigates the influence of smart technologies on small urban dwellings to make them flexible, adaptive and personalised. The study builds on the hypothesis that adaptive homes and smart technology could increase efficiency and space usage up to two to three times compared to a conventional apartment. The present study encompasses a comprehensive semi-systematic literature review that includes several case studies of smart adaptive homes demonstrating various strategies that can be employed to enhance the functionality of small spaces while reducing the physical and psychological limitations associated with them. These strategies involve incorporating time-dependent functions and furniture, as well as division elements that can adapt to the changing needs of users in real-time. This review further categorises types of flexibility and adaptation regarding the size of the moving elements, the time that the transformation takes and whether it is performed manually (by a human) or automatically (by a machine). Results show that smart and adaptive technology can increase space efficiency by reducing the need for separate physical spaces for different activities. Smart technology substantially increases the versatility and multifunctionality of a room in all three dimensions and allows for adaptation and customisation for a variety of users.
Measuring temperature through carbon fiber reinforced plastics requires an implanted contact-based temperature sensor during resistive heating. Implanting the sensor brings about considerable complications in the heat-joining of soft biocompatible Carbon Fiber Reinforced Plastics (CFRPs). In this paper, the concurrent temperature-dependent Electrical Resistance (ER) behavior of Carbon Fiber (CF) tow along with resistive heating is introduced. The temperature feedback from CF tow was investigated in the range of 60–200 °C in the room condition. The process is characterized by high nonlinearity due to complex mode of heat loss, orthotropic and semi-conductive nature of CF, resistivity of contacts, gas-moisture adsorption and ambient changes. In such conditions, experiments were conducted to study the Current-Voltage (I–V), ER-time and ER-temperature in steady-state and transient modes. I–V relationship was non-ohmic and ER-temperature relationship showed negative temperature coefficient at temperatures above 60 °C. Exponential behavior similar to that of thermistors was identified in ER-temperature relationship. The relationship is expressed by Hoge-quartic model, 1T=a+b(lnR(T))+c(lnR(T))2+d(lnR(T))3+e(lnR(T))4, showing the best fit among the conventional calibration equations of thermistor. The reversibility of ER-temperature relationship with maximum error of 16.4 °C was observed. The repeatability of the relationship shows the CF viability of providing concurrent temperature feedback during high-current Joule heating in the room condition.
Chain-type modular robots are capable of self-reconfiguration (SR), where the connection relationship between modules is changed according to the environment and tasks. This article focuses on the connection planning of SR based on multiple in-degree single out-degree (MISO) modules. The goal is to calculate the optimal connection planning solution: the sequence with the fewest detachment and attachment actions. To this end, we propose an auto-optimizing connection planning method that contains a polynomial-time algorithm to calculate near-optimal solutions and an exponential-time algorithm to further optimize the solutions automatically when some CPUs are idle. The method combines rapidity and optimality in the face of an NP-complete problem by using configuration pointers, strings that uniquely specify the robot's configuration. Our polynomial-time algorithm, in-degree matching (IM) uses the interchangeability of connection points to reduce reconfiguration steps. Our exponential-time algorithm, tree-based branch and bound (TBB) further optimizes the solutions to the optimum by a new branching strategy and stage cost. In the experiments, we verify the feasibility of the auto-optimizing method combining IM and TBB, and demonstrate the superiority of IM over Greedy-CM in the SR of MISO modules and the near-optimality of IM compared to the optimal solutions of TBB.
The control of robot swarming in a distributed manner is a difficult problem because global behaviors must emerge as a result of many local actions. This paper uses a bio-inspired control method called the Digital Hormone Model (DHM) to control the tasking and executing of robot swarms based on local communication, signal propagation, and stochastic reactions. The DHM model is probabilistic, dynamic, fault-tolerant, computationally efficient, and can be easily tasked to change global behavior. Different from most existing distributed control and learning mechanisms, DHM considers the topological structure of the organization, supports dynamic reconfiguration and self-organization, and requires no globally unique identifiers for individual robots. The paper describes the DHM and presents the experimental results on simulating biological observations in the forming of feathers, and simulating wireless communicated swarm behavior at a large scale for attacking target, forming sensor networks, self-repairing, and avoiding pitfalls in mission execution.
The problem of controlling locomotion is an area in which neuroscience and robotics can fruitfully interact. In this article, I will review research carried out on locomotor central pattern generators (CPGs), i.e. neural circuits capable of producing coordinated patterns of high-dimensional rhythmic output signals while receiving only simple, lowdimensional, input signals. The review will first cover neurobiological observations concerning locomotor CPGs and their numerical modelling, with a special focus on vertebrates. It will then cover how CPG models implemented as neural networks or systems of coupled oscillators can be used in robotics for controlling the locomotion of articulated robots. The review also presents how robots can be used as scientific tools to obtain a better understanding of the functioning of biological CPGs. Finally, various methods for designing CPGs to control specific modes of locomotion will be briefly reviewed. In this process, I will discuss different types of CPG models, the pros and cons of using CPGs with robots, and the pros and cons of using robots as scientific tools. Open research topics both in biology and in robotics will also be discussed.
Previous work on self-reconfiguring modular robots has concentrated primarily on designing hardware and developing reconfiguration algorithms tied to specific hardware systems. In this paper, we introduce a generic model for lattice-based self-reconfigurable robots and present several generic locomotion algorithms that use this model. The algorithms presented here are inspired by cellular automata, using geometric rules to control module actions. The actuation model used is a general one, assuming only that modules can generally move over the surface of a group of modules. These algorithms can then be instantiated onto a variety of particular systems. Correctness proofs of many of the rule sets are also given for the generic geometry; this analysis can carry over to the instantiated algorithms to provide different systems with correct locomotion algorithms. We also present techniques for automated analysis that can be used for algorithms that are too complex to be easily analyzed by hand.
