CONRO: Self-Reconfigurable Robots
Abstract
The goal of the CONRO Project was to develop a miniature reconfigurable robot that can be tasked to perform reconnaissance and search and identification tasks in urban, seashore and other field environments. CONRO was made from small and identical modules that can be programmed to alter their topological connections and form different configurations in order to respond to environmental challenges such as obstacles and unexpected situations. A total of 20 CONRO modules were built. Each CONRO module has two batteries, one micro-controller, two servos, four docking connectors, and four sets of infrared sensors and emitters for communication and docking guidance. Some modules also have micro-camera, tilt and touch sensors, and wireless communications. These modules can be configured into snakes, centipedes, caterpillars, rolling tracks, etc., and all configurations are capable of locomotion. Current top speed of the robot is 0.6-1.0 mph and is improving continuously. Novel control software systems for self-reconfigurable robots have also been developed. The CONRO robots can perform many metamorphic actions not reported previously in robotics literature. In certain configurations, CONRO can also complete reconfigurations without any human interventions. A CONRO sidewinder robot can also move over rough terrain such as pebbles or small obstacles.
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 01, 2003
- Accession Number
- ADA417709
Entities
People
- Peter Will
- Wei-min Shen
Organizations
- University of Southern California