This paper shows an application of four neural networks architectures for the automatic adaptation of the voice interface to a robotic system. These architectures are flexible enough to allow a nonspecialist user to train the interface to recognize the syntax of new commands to the teleoperated environment. The system has been tested in a real experimental robotic system applied to perform simp...

In this paper, a flexible robotic assembly system with decentralized architecture is presented. The system is designed to achieve high reconfigurability so that it can adapt to changes in manufacturing environment; a new robot can be easily installed to the system and execute assembly tasks immediately, together with other devices. For easier reconfiguration, a semi-automated calibration method...

Abstract Robotic assembly tasks are typically implemented in static settings which parts kept at fixed locations by making use of part holders. Very few works deal with the problem moving industrial applications. However, having autonomous robots that able to execute dynamic environments could lead more flexible facilities reduced implementation efforts for individual products. In this paper, w...

This paper proposes a new architecture for distributed assembly platforms that is well suited to hardwaresoftware codesign. The key qualitative attribute is the reusability of her atomic architectural units called “assembly actors”(software/hardware devices) due the correlation between actors’ goals and primitive assembly operations. We describe the main components of the codesign architecture ...

We look at robotic systems made of separate discrete components that, by selfassembling, can organize into physical structures of growing size. We review 22 such systems, exhibiting components ranging from passive mechanical parts to mobile robots. We present a taxonomy of the systems, and discuss their design and function. We then focus on a particular system, the swarm-bot. In swarm-bot, the ...

The assembly of released parts of microsystems is the last, but a very crucial, step that often requires tradeoffs in the yield and performance of the whole system. Various applications with different concerns have triggered some of the assembly methods today available. Methods that make use of surface tension forces [1], magnetic forces [2], centrifugal forces [3], on chip actuators and roboti...

We present a self-assembly planning algorithm to allow regular modular robots to assemble into some specified shapes. By tiling a shape using connected lattices in accordance with the robotic geometry, a parallel sequence is obtained to plan self-assembly in successive layers. Robots are identical and autonomous. They use local interactions to seek for a grown shape and update the connection in...

This paper presents a localization strategy for robotic assemblies with position uncertainty. The assembly of parts whose position uncertainty exceeds assembly clearance has to rely on either visual assistance or searching to achieve parts mating. We present a general strategy, applicable to arbitrary peg-in-hole assemblies, that localizes the misalignment of the mating parts in an efficient ma...

Under support from the Defense Advanced Research Projects Agency, the University of Maryland Space Systems Laboratory has been developing advanced miniaturized robotics for dexterous space operations. The final robotic architecture, now in prototype form, is a highly modular system capable of self-reconfiguration. These “MORPHbots” are composed of standardized actuator, sensor, and computationa...

Programmable stochastic self-assembly of modular robots provides promising means to formation of structures at different scales. Formalisms based on graph grammars and rule-based approaches have been previously published for controlling the self-assembly process. While several rule-synthesis algorithms have been proposed, formal synthesis of rulesets has only been shown for self-assembly of abs...