A vacuum-based bonding mechanism for modular robotics

Ricardo Franco Mendoza Garcia; Jochen Hiller; Kasper Støy; Hod Lipson

A vacuum-based bonding mechanism for modular robotics

Ricardo Franco Mendoza Garcia, Jochen Hiller, Kasper Støy, Hod Lipson

Computer Science

Publikation: Artikel i tidsskrift og konference artikel i tidsskrift › Tidsskriftartikel › Forskning

Abstract

We explore vacuum as bonding force for modular robotics. Vacuubes are a set of modules that propagate vacuum across their interfaces in order to generate adhesive forces to form and hold structures. We use analog circuits to simulate vacuum transients and understand critical design parameters and then validate these insights in experiments. A 49-module structure that employs vacuum bonding is demonstrated. We conclude that vacuum offers a relatively strong, simple, reliable, and power-efficient connection principle.

Originalsprog	Udefineret/Ukendt
Tidsskrift	I E E E Transactions on Robotics
Vol/bind	27
Udgave nummer	5
Sider (fra-til)	876-890
Antal sider	15
ISSN	1552-3098
Status	Udgivet - 9 jun. 2011

Emneord

Cellular and modular robots
mechanism design
vacuum connectors

Citationsformater

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abstract = "We explore vacuum as bonding force for modular robotics. Vacuubes are a set of modules that propagate vacuum across their interfaces in order to generate adhesive forces to form and hold structures. We use analog circuits to simulate vacuum transients and understand critical design parameters and then validate these insights in experiments. A 49-module structure that employs vacuum bonding is demonstrated. We conclude that vacuum offers a relatively strong, simple, reliable, and power-efficient connection principle.",

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AU - Garcia, Ricardo Franco Mendoza

AU - Hiller, Jochen

AU - Støy, Kasper

AU - Lipson, Hod

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N2 - We explore vacuum as bonding force for modular robotics. Vacuubes are a set of modules that propagate vacuum across their interfaces in order to generate adhesive forces to form and hold structures. We use analog circuits to simulate vacuum transients and understand critical design parameters and then validate these insights in experiments. A 49-module structure that employs vacuum bonding is demonstrated. We conclude that vacuum offers a relatively strong, simple, reliable, and power-efficient connection principle.

AB - We explore vacuum as bonding force for modular robotics. Vacuubes are a set of modules that propagate vacuum across their interfaces in order to generate adhesive forces to form and hold structures. We use analog circuits to simulate vacuum transients and understand critical design parameters and then validate these insights in experiments. A 49-module structure that employs vacuum bonding is demonstrated. We conclude that vacuum offers a relatively strong, simple, reliable, and power-efficient connection principle.

KW - Cellular and modular robots

KW - mechanism design

KW - vacuum connectors

KW - Cellular and modular robots

KW - mechanism design

KW - vacuum connectors

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EP - 890

JO - I E E E Transactions on Robotics

JF - I E E E Transactions on Robotics

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