Modular Self-reconfigurable Continuum Robots

Abstract

Modular Self-Reconfigurable Robots offer exceptional adaptability and versatility through reconfiguration, but traditional rigid structure designs lack the compliance necessary for effective interaction with complex environments. Recent advancements in modular soft robotics address this shortcoming with enhanced morphologies and functions, though they remain limited by reliance on manual assembly and the absence of active self-reconfiguration capabilities. In this paper, we present a modular self-reconfigurable soft continuum robot (MSRCR) system featuring a continuum backbone and an omnidirectional docking connector. This design enables each module to independently perform loco-manipulation and self-reconfiguration without manual intervention. We also propose a kinetostatic model and perform geometrical docking range analysis to characterize the robot's performance. The reconfiguration process and the distinct motion gait for each configuration are identified, including rolling, crawling, and snake-like undulation. Experimental demonstrations show that both single and multiple connected modules can achieve successful loco-manipulation, adapting effectively to various environments.

Video

Robot Design

The MSRCR system features two key components: a soft continuum backbone and two docking connectors based on hybrid soft-rigid ball gripper. The design goals of the MSRCR system are to (1) provide high motion dexterity for single module, (2) achieve polygamous omnidirectional docking, and thus to (3) enable both locomotion and manipulation capability for single module. To meet these goals, the tendon-driven continuum module provides 2-DoF bending for compliant locomotion while the ball grippers allow both the connection between multiple modules and object manipulation.

Description of your image — Design of the MSRCR. (a) CAD model of a single module. (b) Prototype of a single module. (c) Explored view of the continuum backbone and the docking gripper. (d) Driving mechatronics and communication diagram.

Design Open Source

The design is open-sourced on Onshape. You can access the design and make your own MSRCR system.

MSRCR by YilinCai on Sketchfab

Single Module Locomotion and Manipulation

Rolling

Terrain Adaptability

Manipulation - Narrow Entrance

Multi-Module Loco-manipulation

Two-Module Rolling

Snake-like Undulation

Crawling - Loco-Manipulation

Crawling - In-place Turning

Self-Reconfiguration

Reconfig by Adding Modules

Reconfig by Connection/Disconnection

From a Snake to a Crawler

BibTeX

@article{cai2024modular,
  author    = {Cai, Yilin and Xu, Haokai and Wang, Yifan and Chen, Desai and Shou, Wan and Chen, Yue},
  title     = {Modular Self-Reconfigurable Continuum Robot for General Purpose Loco-Manipulation},
  year      = {2024},
}