Towards Artificial ATRON Animals: Scalable Anatomy for Self-Reconfigurable Robots David J. Christensen, David Brandt & Kasper Støy Robotics: Science & Systems Workshop on Self-Reconfigurable Modular Robots August 2006 David Johan Christensen Ph.D-Student Adaptronics Group, Mærsk Institute University of Southern Denmark 1 1 of 28 of 28
Overview • Why study Self-Reconfigurable robots? • The ATRON system. • Scaling the robot. • Challenge of Scalable Functionality • Scalable Anatomy for ATRON robots • Discussion, Future work & Summary ??? ??? ??? ??? 2 2 of 28 of 28
Why Study Self-Reconfigurable Robots? 3 3 of 28 of 28
Purpose from Scientific Perspective? • Understand, explain and recreate the characteristics of life!! CEBOT Biological Evolve CATOM Biological Robotic Robotic Species CONRO Species Species Species Self-Sufficient M-TRAN 3D-UNIT Self-Contained FRACTA Self-Maintained POLYBOT Autonomous MOLECULE Biological Biological Adapt & Learn Robot SUPERBOT Robot Organism Organism Self-Assemble MOLECUBE Self-Repair CRYSTALLINE METAMORPHIC Self-Reproduce Many other ……. Intelligent & Conscious Self-Organize Robotic Robotic Cells Self-Assemble (Chemicals) Cells Modules Modules Self-Reproduce (Division) 4 of 28 4 of 28
Purpose from Engineering Perspective? • We want to build Better Robots! • Why should it Modular? – Multi-Purpose => Versatility (by clever design) – Mass-Produce => Low Cost – Extendable => Scalable • Why should it be Self-Reconfigurable? – Self-Repair => Reliable & Robust (from redundancy) – Self-Assembly => Automated Production – Adaptation => Increased Performance (both functional and morphological adaptation) 5 of 28 5 of 28
ATRON 6 6 of 28 of 28
Our Platform: The ATRON System • Module Characteristics: – Single degree of freedom – 4 male, 4 female connectors – Batteries (had power sharing) – Computation, communication, – Sensing: Distance, Tilt, Encoders – 800 grams pr. module • Manufactured: 100 modules 7 7 of 28 of 28
Versatility of the ATRON System • Manipulation & Locomotion (Real Time) 8 8 of 28 of 28
Versatility of the ATRON System • Self-Reconfiguration (8x Speed) 9 9 of 28 of 28
Scaling 10 of 28 10 of 28
Scaling the Robot • Scaling down module size (cm to µm) • Scaling up number of modules (tens to millions) • Why? – Closer to the cell metaphor. – Improve engineering metrics (e.g. resolution of shape) 11 of 28 11 of 28
Scalability Challenges of Self-Reconfigurable Robots • What are the Challenges? – Hardware • What to build? – Self-Reconfiguration • Morph between configurations. – Functionality (THIS TALK!) • Fast responding and functional robots. – Many other challenges…. 12 of 28 12 of 28
Challenge of Scalable Functionality 13 of 28 13 of 28
The Challenge of Scalable Functionality Number of Cells/Modules Speed of Response Complexity of Functionality ??? ??? 14 of 28 14 of 28
What is the problem anyway? • Self-Reconfiguration too slow: (for fast response) – Slower with more modules (more moving) Basically constant with volume. – Faster with smaller modules (faster modules) • Modules are locked rigidly: – Modules are stuck in a global lattice. Functionality reduces – Actuation Forces does not add up. to self-reconfiguration. • So scaling functionality is hard. – Functionality do not transfer from a 10 to a 1000 module robot 15 of 28 15 of 28
How can we approach the problem? • How to build Myriad-Module Robots? – Functional & Fast-Responding • Approach: Defining a Robot Anatomy Artificial Scalable Artificial Scalable – Biological Inspired by Animal Anatomies Creature Anatomy Creature Anatomy – Scalable Anatomically Structures • Bone, joints, muscles, nerves, etc.. Robotic Robotic Modules Modules Scalable Anatomy Computers, Actuators, Sensors, Gears… 16 of 28 16 of 28
Where does this comes from? • Hieratical Organization of cells • Differentiation dependent on role in organism Robot Robot Animal Animal Organs Organs Anatomi Inspiration Anatomically Anatomically Structures Tissues Structures Tissues Cellular Inspiration Cells Modules Cells Modules 17 of 28 17 of 28
ATRON Anatomy 18 of 28 18 of 28
Moving from idea to system… • ATRON Anatomy – ATRON-Nerve – ATRON-Arteries – ATRON-Bone – ATRON-Joint – ATRON-Muscle – ATRON-Skin 19 of 28 19 of 28
ATRON Anatomy: Neurons and Arteries • ATRON-Neuron – Computation ~ Microprocessors – Coordination ~ IR-Communication – Sensing ~ Sensors • ATRON-Artery – Transportation of energy ~ Power sharing Notation 20 of 28 20 of 28
ATRON Anatomy: Bone • ATRON-Bone ATRON-Bone Bio-Bone – Support Weight of Robot. Density 720kg/m^3 1900 kg/m^3 – Strong Connector. Yield Strength 0.067MPa* 50MPa – Lattice Interconnection. *Østergaard et al., Design of the ATRON lattice-based self- – Scales in 3D. reconfigurable robot. Autonomous Robots, to appear, 2006. ATRON Bone Femur Bone 21 of 28 21 of 28
ATRON Anatomy: Hinge Joint • ATRON-Joints – Connection and relative rotation of bones. • Hinge Joint – Scales along rotational axes. – Reversible to global lattice. Hinge Joint 22 of 28 22 of 28
ATRON Anatomy: Ball-Socket Joints • ATRON-Joints – Connection and relative rotation of bones. • Ball-Socket Joint – Scalable in 3D. – Reversible to global lattice using muscles as anchors. Hip Joint Ball-Socket Joint 23 of 28 23 of 28
ATRON Anatomy: Muscle • ATRON-Muscles – Actuation of myriad-module robot – Parallelizable to achieve scalability 24 of 28 24 of 28
ATRON Anatomy: Skin • ATRON-Skin – Purpose: e.g. protection from environment. – ATRON Surfaces that can deform and stretch – However: • Rigid constraints on ATRON • Full of Holes Two sheets patterns for skin 25 of 28 25 of 28
Discussion, Future work & Summary 26 of 28 26 of 28
Lesson Learned… • Will it ever work? – Probably not with the ATRON alone… • Why not? – Morphological differentiation of modules seems necessary: • Functional differentiation are not enough. • 210 different cell types in adult human • What then? (Future work) – Collect more experience from different systems: • Which anatomical structures? • How to combine anatomical structures? – Design novel SR system based on scalable anatomy. 27 of 28 27 of 28
Summary • Challenge of Scalable Functionality: – Fast responsive functionality myriad-module robots… • Our Approach: – Biological Inspired Scalable Anatomy. – Anatomical Parts: Bone, Joint, Muscle, Skin, Nerve. • Scalable Anatomy for ATRON System. ??? ??? ??? ??? 28 of 28 28 of 28
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