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A Survey of Motion Planning for Self-Reconfigurable Robots: 

A Survey of Motion Planning for Self-Reconfigurable Robots Sam Slee CPS 234 - Computation Geometry December 8, 2005

Table of Contents: 

What are Self-Reconfigurable Robots? Unique Motion Planning Challenges Styles of Reconfiguration Designs Reconfiguration Planning Locomotion Planning Table of Contents

What Are Self-Reconfigurable Robots?: 

What Are Self-Reconfigurable Robots? • Individual, independent units combine to form a larger, highly versatile robot. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • Capabilities for different structures, manipulation abilities, and styles of locomotion. • Ability to self-reconfigure means no outside intervention is required to utilize this versatility.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

We care because…: 

We care because… • Typical robots are limited by their initial design - reconfigurable robots can adapt to their environments. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • They could provide the capability for self-building structures. • These robots are easily extensible - just add more units.

Quick Terms: 

Quick Terms • Individual units are commonly referred to as “modules”. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • A “configuration” corresponds to a particular connectivity arrangement of the individual modules.

Unique Motion Planning Challenges: 

Unique Motion Planning Challenges • Reconfiguration algorithms for rearranging modules within the system Introduction Unique Challenges Different Styles Reconfiguration Locomotion • Locomotion algorithms for providing the robot movement through its environment. • Centralized algorithms are easier, but distributed algorithms are a ‘must’.

Styles of Self-Reconfigurable Robots: 

Styles of Self-Reconfigurable Robots • Mobile reconfiguration - individual modules separate, move through their environment, then reattach. Introduction Unique Challenges Different Styles Reconfiguration Locomotion • Substrate reconfiguration - modules traverse along the lattice surface created by other modules in the system. • Closed-chain reconfiguration - modules composed of nodes and segment modules form chains and loops.

Substrate Reconfiguration Motion Planning: 

Substrate Reconfiguration Motion Planning • Hexagonal metamorphic robots are a common conceptual design… Introduction Unique Challenges Different Styles Reconfiguration Locomotion • Hexagonal shaped modules or cells traverse over chains formed by other modules.

Substrate Reconfiguration Motion Planning: 

Substrate Reconfiguration Motion Planning • Hexagonal metamorphic robots are a common conceptual design… Introduction Unique Challenges Different Styles Reconfiguration Locomotion Found at: http://www.cs.vassar.edu/~walter/

Substrate Reconfiguration Motion Planning: 

Substrate Reconfiguration Motion Planning • The “Molecule” robot… Introduction Unique Challenges Different Styles Reconfiguration Locomotion Found at: http://www.cs.dartmouth.edu/~robotlab/robotlab/ robotlab/robots/molecule/index.html

Substrate Reconfiguration Motion Planning: 

Substrate Reconfiguration Motion Planning • The “Molecule” robot… in action. Introduction Unique Challenges Different Styles Reconfiguration Locomotion Found at: http://www.cs.dartmouth.edu/~robotlab/robotlab/ robotlab/robots/molecule/version3.html

Expanding Cube Reconfiguration Motion Planning: 

Expanding Cube Reconfiguration Motion Planning • The “Crystal” robot… simple translating. Introduction Unique Challenges Different Styles Reconfiguration Locomotion Found at: http://www.cs.dartmouth.edu/~robotlab/robotlab/ robotlab/robots/crystal/

Expanding Cube Reconfiguration Motion Planning: 

Expanding Cube Reconfiguration Motion Planning • The “Crystal” robot… reconfiguration demonstration. Introduction Unique Challenges Different Styles Reconfiguration Locomotion Found at: http://www.cs.dartmouth.edu/~robotlab/robotlab/ robotlab/robots/crystal/

Expanding Cube Reconfiguration Motion Planning: 

Expanding Cube Reconfiguration Motion Planning • The “Crystal” robot… showing off. Introduction Unique Challenges Different Styles Reconfiguration Locomotion Found at: http://www.cs.dartmouth.edu/~robotlab/robotlab/ robotlab/robots/crystal/

Closed-Chain Reconfiguration Motion Planning: 

Closed-Chain Reconfiguration Motion Planning • A diagram of Polypod, a closed-chain reconfiguration robot - here in a loop form. Introduction Unique Challenges Different Styles Reconfiguration Locomotion Found at: http://www2.parc.com/spl/projects/ modrobots/chain/polypod/demonstrations.html

Closed-Chain Locomotion Motion Planning: 

Closed-Chain Locomotion Motion Planning • A diagram of Polybot, a newer version by the same research group, has demonstrated some impressive locomotion for this budding robotic field. Introduction Unique Challenges Different Styles Reconfiguration Locomotion Found at: http://www2.parc.com/spl/projects/modrobots/ chain/polybot/demonstrations/index.html

Slide62: 

Introduction Unique Challenges Different Styles Reconfiguration Locomotion Conclusion • Self-reconfigurable robotics is a relatively new, but growing field. • The tasks that these robotic systems seek to complete require a unique meshing of motion planning and distributed algorithms.