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k4POMTYUNOS9h9nN909.pptx

  1. 1. METAMORPHIC ROBOTS.
  2. 2. OVERVIEW: • What are Metamorphic Robots ? • Modularity and Morphology. • Modular Self-Reconfigurable Robots. • Structure. • Changing the Shape. • Locomotion of the robots. • Applications. • Limitations. • Future Improvements. • Conclusion.
  3. 3. METAMORPHIC ROBOTS • Collection of Independently Controlled Mechatronic modules. • Ability to Connect, Disconnect and Climb over adjacent modules.
  4. 4. PROPERTIES : • Same physical Structure. • Electromechanical Connectors between the Modules. • Degree of freedom. • Symmetry in mechanical Structure. • Computational and Communication functionality.
  5. 5. MSR (MODULAR SELF RE-CONFIGURING ROBOT) • Modular self-reconfigurable (MSR) robots are robots composed of a large number of repeated modules that can rearrange their connectedness to form a large variety of structures.
  6. 6. CATEGORIES OF MSR : • Lattice. • Chain. • Mobile. • Stochastic. • Deterministic.
  7. 7. STRUCTURE • The modules are designed to have a regular “Hexagonal” structure. Because of the hexagonal shape the modules completely fill the plan without any gaps.
  8. 8. CONNECTION PLATES • Each module has “Two” connection plates which attaches the adjacent modules physically and electrically. • It has 2 photodiodes and 4 LED’s which determines the relative 6 DOF and orientation of mating plate.
  9. 9. HOW DO THEY CHANGE SHAPE • Self reconfigure system consists of cells and Digital Hormones. • Digital hormones are released from cells and captured by receptors of neighboring cells. • They are propagated from high to low density space and stops when density is below threshold.
  10. 10. LOCOMOTION • There are three ways for locomotion: 1) Single Module motion 2) Multiple module motion 3) Fixed Morphology motion. • Single module motion takes place by locomotion of modules around each other while remaining connected to each other at all times This can also be described as the rolling of one module over others.
  11. 11. SINGLE MODULE MOTION
  12. 12. APPLICATIONS : 1) Obstacle avoidance in highly constrained and unstructured environments. 2) Growing structures composed of modules to form bridges buttresses and other civil structures in times of emergency. 3) Performing inspections in constrained environments such as nuclear reactors. 4) Space Exploration- envelopment of objects such as recovering satellites from space .
  13. 13. Advantages :- • Versatility. • Robustness. • Low-Cost. Limitations :- • Problem of recognizing and choosing useful configurations. • Communication between the modules is complex and not easy to attain. • Being dependent and independent simultaneously is a challenge for the modules.
  14. 14. FUTURE IMPROVEMENTS • Currently, all the modules are controlled by a host computer in a central manner to perform previously planned motions. • Automatic and more efficient motion planning that is currently hand-coded. • Improvement of connection and motion mechanism for more reliable motion Improvement of connection and motion mechanism for more reliable motion. • Implementing a distributed control system where each module decides its action in an autonomous way
  15. 15. CONCLUSION • Metamorphic robots are a revolutionary robotic technology that could greatly enhance human capabilities in space and enable a new range of scientific activities and planetary exploration. • It opens the possibility of constructing robots that can change their shape and functionality, affording extreme adaptability to new tasks and changing environmental constraints. • At a more advanced stage, this technology could allow for autonomous reconfiguration based on the concept of “Digital Hormones”
  16. 16. REFERENCES : • http://www.seminarsonly.com/electronics/Metamorphic%20Robots.php • http://documents.mx/documents/metamorphic-robots.html • https://www.slideshare.net/adorepump/selfreconfigurable-robot-a-platform- of-evolutionary-robotics-presentation • https://www.scribd.com/doc/93233415/Metamorphic-Robots • http://ieeexplore.ieee.org/document/6602434/ • https://www.researchgate.net/publication/2683201_Design_And_Implement ation_Of_Metamorphic_Robots
  17. 17. Submitted by :- Name- Ashish Kumar Branch- ECE Roll No- 2013-2010 Paper code- ECE 892.
  18. 18. Thank You..

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