HyMod: A 3-DOF hybrid mobile and self-reconfigurable modular robot and its extensions

Parrott, C., DODD, Tony and Gross, R. (2018) HyMod: A 3-DOF hybrid mobile and self-reconfigurable modular robot and its extensions. In: Distributed Autonomous Robotic Systems: 13th International Symposium. DARS 2016. Springer Proceedings in Advanced Robotics, 6 . Springer, London, UK, pp. 401-414. ISBN 978-3-319-73006-6

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Abstract or description

This paper presents HyMod, a hybrid self-reconfigurable modular robot, and its extensions. HyMod units feature three rotational degrees of freedom and four connectors, allowing them to move independently via differential wheels and group with other units to form arbitrary cubic lattice structures. The design is built around the high-speed genderless (HiGen) connection mechanism, allowing for single-sided disconnect and enabling units to rotate freely in place within their lattice positions. To our knowledge, HyMod is the first modular robot to combine efficient single module locomotion with free in place rotation. An analysis of HyMod is presented, as well as details of its mechanics and electronics. To augment the capabilities of HyMod, a number of extension modules are introduced. Hybrid modular robots with extensions, such as the system presented here, could see use in the areas of reconfigurable manufacturing, search and rescue, and space exploration.

Item Type:	Book Chapter, Section or Conference Proceeding
Additional Information:	© 2018 Springer International Publishing AG, part of Springer Nature.
Faculty:	School of Creative Arts and Engineering > Engineering
Depositing User:	Library STORE team
Date Deposited:	15 Jul 2020 14:37
Last Modified:	24 Feb 2023 13:58
URI:	https://eprints.staffs.ac.uk/id/eprint/6230

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