Design and Research of the Modular Robot Based on Self-Recognition

• Main Authors: Yen-Jui Chia, 賈炎叡
• Other Authors: Geng-Jen Shiu
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/98210584789681706003

碩士 === 修平技術學院 === 電機工程研究所 === 99 === A Modular robot is made of a set of robotic modules with the ability to change the shape by having cooperation among the multiple robot modules. In this thesis, we developed two generations of modular robots, called Velcro Strap Modular Robot (VS-MR) and Velcro Strap Modular Robot II(VS-MR II). In these modular robots, they comprises several modules individually with actuators controlled by their own on-board processing units, and these individual modules have the basic motion capability and control functions. But the optical sensors mounted on the connected faces of the VS-MR II can provide the relative position informations for self-recognition. In this thesis, we address the issues about module’s design, motion analysis, sensing structure, and reconfiguration. In the experimental results, a single module have the basic motion capability. Based on the robotic module, the modular robot can be formed by a set of robotic modules with the ability to change the shape by letting the multiple robot modules cooperate. Furthermore, some experimental results are demonstrated to show the effectiveness of the Velcro strap modular robot with satisfactory performances.