Polymorphic Polymorphic RobotsRobots

Logan HauensteinLogan Hauenstein

ReadingReading

From From Robot TeamsRobot Teams, chapter 5:, chapter 5:

A Polymorphic Robot TeamA Polymorphic Robot TeamBy Andres Castano and Peter WillBy Andres Castano and Peter Will

Homogeneous and Homogeneous and Heterogeneous TeamsHeterogeneous Teams

HomogeneousHomogeneous Not as flexible – Not as flexible –

potential for potential for weakness.weakness.

Easier to maintainEasier to maintain

HeterogeneousHeterogeneous Takes advantage of Takes advantage of

different membersdifferent members Maintaining Maintaining

different robots is different robots is expensiveexpensive

Can we have the best of both worlds?

Polymorphic Robot TeamPolymorphic Robot Team

Build a Build a modular robot modular robot out of many out of many homogeneous “building block” homogeneous “building block” robotsrobots

Flexible like heterogeneous teamsFlexible like heterogeneous teams Maintainable like homogeneous Maintainable like homogeneous

teamsteams Ultimate goal: reconfigurable robots, Ultimate goal: reconfigurable robots,

inter-robot reconfigurationinter-robot reconfiguration

Homogeneous and Homogeneous and Heterogeneous Heterogeneous

Reconfigurable RobotsReconfigurable RobotsHomogeneousHomogeneous All modules are all the sameAll modules are all the same Module position determines roleModule position determines role Less-costly hardware/software design Less-costly hardware/software design

processprocess Simple to reconfigureSimple to reconfigureHeterogeneousHeterogeneous Can have different modulesCan have different modules Function of module determines roleFunction of module determines role Many different hardware/designs – costlyMany different hardware/designs – costly Complex reconfigurationComplex reconfiguration

Level of HomogeneityLevel of Homogeneity Module HardwareModule Hardware

Different modules mean higher development Different modules mean higher development costcost

Module SoftwareModule Software Large, all-encompassing program? Or Large, all-encompassing program? Or

smaller, separate (overlapping) programs?smaller, separate (overlapping) programs? Robot HardwareRobot Hardware

Homogenous modules could get heavyHomogenous modules could get heavy Robot SoftwareRobot Software

Heterogeneous modules make Heterogeneous modules make reconfiguration hardreconfiguration hard

Latticed and Non-Latticed Latticed and Non-Latticed Reconfigurable RobotsReconfigurable Robots

Latticed robots Latticed robots reconfigure in reconfigure in order to moveorder to move

Non-latticed robots Non-latticed robots usually have usually have separate separate reconfiguration and reconfiguration and locomotion stages.locomotion stages.

ConsequencesConsequences

Communication now required at Communication now required at both micro and macro levelboth micro and macro level

Acts like a distributed systemActs like a distributed system How do you design a good How do you design a good

reconfigurable robot unit?reconfigurable robot unit? Primary goals:Primary goals:

Fixed-position functionalityFixed-position functionality Intra-robot reconfigurationIntra-robot reconfiguration Inter-robot reconfigurationInter-robot reconfiguration

ChallengesChallenges Need to find the right balance between Need to find the right balance between

weight, power, and capabilitiesweight, power, and capabilities Communication: between modules and Communication: between modules and

other robotsother robots Remote Sensing to support reconfigurationRemote Sensing to support reconfiguration

Self-reconfiguration presents a peg-in-a-Self-reconfiguration presents a peg-in-a-hole problemhole problem

Autonomy: no human interventionAutonomy: no human intervention Self-Sufficiency: each has own CPU, Self-Sufficiency: each has own CPU,

power, etc.power, etc.

The CONRO ModuleThe CONRO Module

Two axes of rotation Two axes of rotation (yaw and pitch)(yaw and pitch)

Connection ports on Connection ports on each end:each end: Other CONRO modulesOther CONRO modules Special attachments Special attachments

like sensors, solar like sensors, solar power units, etc.power units, etc.

Self-sufficientSelf-sufficient AutonomousAutonomous

Images/movies courtesy of Images/movies courtesy of USC Information USC Information Sciences InstituteSciences Institute

CONRO ImplementationCONRO Implementation

CONRO configured as a hexapod, loop, and snake. All are capable of locomotion.

CONRO ImplementationCONRO Implementation

Reconfiguration requires human helpReconfiguration requires human help Software seems to handle reconfiguration Software seems to handle reconfiguration

well, thoughwell, though

Crystalline Modules: Crystalline Modules: A Lattice ConfigurationA Lattice Configuration

The Crystalline Atom robots expand and The Crystalline Atom robots expand and contract to move the center of mass of the contract to move the center of mass of the robot around.robot around.

More Examples:More Examples:

Above: The Polypod robot from PARC Modular Robotics is made up of compressible units.

Left: IRobot’s 2PLHM – a polymorphic robot made up of many spherical “holons.”

More Examples:More Examples:(www.KurzweilAI.net)(www.KurzweilAI.net)

““Foglet” nanobots: extremely small polymorphic Foglet” nanobots: extremely small polymorphic robots.robots.

On Certain Aspects of Utility FogOn Certain Aspects of Utility Fog © 1996 J. Storrs Hall © 1996 J. Storrs Hall

ConclusionsConclusions

Neat idea, potentially terrifyingNeat idea, potentially terrifying

Still need to consider all various Still need to consider all various reconfiguration possibilitiesreconfiguration possibilities

Real strength is in reconfiguration Real strength is in reconfiguration

Maintaining all of those modules Maintaining all of those modules might be hardmight be hard