We propose an automatically deployable robust control scheme for modular reconfigurable robot manipulators, which accounts noisy velocity measurements, yet it maximizes the tracking performance while avoiding chattering effects. Our proposed approach adapts to any of possible compositions given sets modules. The stability is guaranteed by exploiting use a recursive Newton-Euler with interval ar...

This paper discusses the general concept of the Super Mechano-System, or SMS and its anticipated applications. The SMS is a new type of robot system, which can transform its shape and also its internal control system in accordance with the given tasks. Snake robots, running and walking robot with manipulation function, group robots, and unified and reconfigurable robots are the three main examp...

In this paper we described the hardware architecture of an inexpensive, heterogeneous, mobile robot swarm, designed and developed at RISC lab, University of Bridgeport. Each UB robot swarm is equipped with sensors, actuators, control and communication units, power supply, and interconnection mechanism. Robot swarms have become a new research paradigm in the last ten years offering novel approac...

A shape-shifting robot with changeable configurations can accomplish search and rescue tasks which could not be achieved by manpower sometimes. The accessibility of this robot to uneven environment was efficiently enlarged by changing its configuration. In this paper, a path planning method is presented that integrates the reconfigurable ability of the robot with the potential field law. An ada...

Dynamic Partial Reconfiguration (DPR) of FPGAs presents many opportunities for application design flexibility, enabling tasks to dynamically swap in and out of the FPGA without entire system interruption. In this paper, we will implement a line follower robot for the white line as well as for black line; both these modules will be programmed in VHDL. The robot will dynamically reconfigure the F...

Rather than the conventional classification method, we propose to divide modular and reconfigurable robots into intra-, inter-, and nested reconfigurations. We suggest designing the robot with nested reconfigurability, which utilizes individual robots with intra-reconfigurability capable of combining with other homogeneous/heteroge‐ neous robots inter-reconfigurability . The objective of this a...