Freeform Modular Self-reconfigurable Robot, China

Authors: Yuxiao Tu, Tin Lun Lam
Corresponding author: Tin Lun Lam (Email: [email protected]; Website: https://sites.google.com/site/lamtinlun ​)
Published in: Published in: IEEE Transactions on Robotics (T-RO)
Paper: freeformrobotics.org/wp-content/uploads/2023/09/FreeSN_TRO2023.pdf

Title:
Configuration Identification for a Freeform Modular Self-reconfigurable Robot - FreeSN

Abstract:
Modular self-reconfigurable robotic systems are more adaptive than conventional systems. This article proposes a novel freeform and truss-structured modular self-reconfigurable robot called FreeSN, containing node and strut modules. A strut module contains two freeform connectors, which can connect to any position of the node module. This article presents a novel configuration identification system for FreeSN, including connection point magnetic localization, module identification, module orientation fusion, and system configuration fusion. A magnetic sensor array is integrated into the node module. A graph convolutional network-based magnetic localization algorithm is proposed, which can efficiently locate a variable number of magnet arrays under ferromagnetic material distortion. The module relative
orientation is estimated by fusing the magnetic localization result with the inertia moment unit and wheel odometry. Finally, the system configuration can be estimated, including the connection topology graph and the poses of modules. The configuration identification system is validated by accuracy evaluation experiments and two closed-loop library-based automation demonstrations.

Click to expand...

Authors: Peiqi Wang, Guanqi Liang, Da Zhao, Tin Lun LamCorresponding author: Tin Lun Lam (Email: [email protected]; Website: https://freeformrobotics.org/tllam )
Paper: freeformrobotics.org/wp-content/uploads/2025/04/ICRA2025_SnailBOT_Gripper.pdf

Title: Enhancing Connection Strength in Freeform Modular Reconfigurable Robots Through Holey Sphere and Gripper Mechanisms

Abstract:Freeform modular self-reconfigurable robot (MSRR) systems overcome traditional docking limitations, enabling rapid and continuous connections between modules in any direction. Recent advancements in freeform MSRR technology have significantly enhanced connectivity and mobility. However, limitations in connector strength and operational efficiency in existing designs restrict performance. This paper proposes a rigid freeform connector and a rigid magnetic track design to improve the connection and motion performance of the SnailBot. Each SnailBot is equipped with a multi-channel rope-driven gripper, a metal spherical shell with densely distributed circular holes on the back, and a rigid chain design conforming to the spherical surface. This combination allows each SnailBot to move precisely along the surface of a peer, facilitated by the ferromagnetic spherical shell and magnetic track. The integration of the gripper and spherical shell hole array provides robust inter-module connections in any position and orientation. The effectiveness of these designs has been validated through a series of experiments and analyses, demonstrating improved connection and motion performance in the SnailBot dual-mode connector system and expanding its potential applications and functional capabilities.

Click to expand...