The ATRON Self-reconfigurable Robot

The ATRON Self-reconfigurable Robot challenges and future directions Kasper Støy AdapTronics Group The Maersk Institute for Production Technology University of Southern Denmark www.hydra-robot.dk

ATRON Terrestrial Self-Reconfiguration Henrik H. Lund, Esben H. Ostergaard Richard Beck, Lars Dalsgaard, Morten W. Jorgensen Associated: Kristian Kassow, Leonid Paramonov, Kasper Støy, David Christensen, David Brandt, Danny Kyrping Maersk Institute, University of Southern Denmark, Denmark

ATRON Concept ,[object Object]

Mechanics : Prototype 0 ,[object Object],[object Object],[object Object]

Mechanics : Prototype 1A ,[object Object],[object Object],[object Object],[object Object]

Mechanics : Prototype 1B ,[object Object],[object Object],[object Object],[object Object],[object Object]

Mechanics : Final Prototype ,[object Object],[object Object]

Electronics ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Electronics : Power Supply ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

IROS2004 - Demonstration videos ,[object Object],[object Object],[object Object]

Concept Demonstations ,[object Object],[object Object],[object Object],[object Object]

Explored control concepts ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Conclusion ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Intermezzo Queen of Denmark admires ATRON module together with the Japanese emperor

Kasper Støy AdapTronics Group The Maersk Institute for Production Technology University of Southern Denmark The Cruel Reality of Self-Reconfigurable Robots

Vision of self-reconfigurable robots ,[object Object],[object Object],[object Object]

The Reality of Self-Reconfigurable Robots ,[object Object],[object Object],[object Object]

Robust vs Fragile ,[object Object],[object Object],[object Object],USC’s ISI

Robust vs Fragile ,[object Object],[object Object],[object Object]

Versatile vs Useless ,[object Object]

Versatile vs useless ,[object Object]

Versatile vs useless David Brandt Start Goal

Versatile vs useless ,[object Object],[object Object]

Cheap vs Expensive ,[object Object],[object Object],[object Object]

Challenges of self-reconfigurable robots ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Make robot strength greater than O(1)? ,[object Object],[object Object],[object Object]

[object Object],[object Object],[object Object],[object Object]

Reduce motion constraints to facilitate easy self-reconfiguration? ,[object Object],[object Object],[object Object]

Hypothesis ,[object Object],[object Object]

Deformable Modular Robots ,[object Object],[object Object],[object Object],[object Object]

Concept Demonstration ,[object Object],[object Object],[object Object],[object Object]

Deformable Modular Robots ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Conclusion ,[object Object],[object Object],[object Object],[object Object]

The ATRON Self-reconfigurable Robot

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The ATRON Self-reconfigurable Robot