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Piranda B.♦, Chodkiewicz P.♦, Hołobut P., Bordas S.♦, Bourgeois J.♦, Lengiewicz J., MODULAR ROBOTS AS DISTRIBUTED COMPUTERS OF THEIR OWN MECHANICAL STATE,
CMM-SolMech 2022, 24th International Conference on Computer Methods in Mechanics; 42nd Solid Mechanics Conference, 2022-09-05/09-08, Świnoujście (PL), No.134, pp.1-1, 2022 | |
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Piranda B.♦, Chodkiewicz P.♦, Hołobut P., Bordas S.♦, Bourgeois J.♦, Lengiewicz J., Distributed prediction of mechanically unsafe configurations by a system of robotic blocks,
ICTAM2021, 25th International Congress of Theoretical and Applied Mechanics, 2021-08-22/08-27, Mediolan (virtual) (IT), No.0108761, pp.2413-2414, 2021Streszczenie: Summary We present a computational scheme for predicting whether addition of new modules to an existing modular robotic structure will mechanically overload the system, causing it to break or lose stability. The algorithm is executed by the modular robot itself in a distributed way, and relies on the iterative solution of mechanical equilibrium equations derived from a simple Finite Element model of the robot. In the model, inter-modular connections are represented as beams and the contact between modules and external supports is accounted for by a predictor-corrector scheme. The algorithm is verified through simulations in the Programmable Matter simulator VisibleSim and real-life experiments on the modular robotic system Blinky Blocks. Afiliacje autorów:
Piranda B. | - | inna afiliacja | Chodkiewicz P. | - | Politechnika Warszawska (PL) | Hołobut P. | - | IPPT PAN | Bordas S. | - | University of Luxembourg (LU) | Bourgeois J. | - | inna afiliacja | Lengiewicz J. | - | IPPT PAN |
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Chodkiewicz P.♦, Zalewski R.♦, Lengiewicz J., Dem modeling of vacuum packed particles dampers,
SolMech 2018, 41st SOLID MECHANICS CONFERENCE, 2018-08-27/08-31, Warszawa (PL), pp.208-209, 2018 | |