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This study introduces a novel platform for controlling self-reconfigurable modular robots. It allows users to safely guide robot collectives with evolving shapes and sizes, enhancing adaptability for complex tasks.

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Area of Science:

  • Robotics
  • Human-Robot Interaction
  • Control Systems

Background:

  • Modular robots offer adaptability but face challenges in motion control during reconfiguration.
  • Existing methods limit adaptability due to reliance on pre-programmed knowledge for changing robot structures.

Purpose of the Study:

  • To develop a user-guided control platform for self-reconfigurable modular robots.
  • To enable safe and intuitive control of dynamically changing robot collectives.

Main Methods:

  • Implemented an optimization scheme for online processing of user commands, ensuring constraint satisfaction.
  • Introduced Joint-space Joysticks, a physical interface that adapts to robot morphology for direct user control.

Main Results:

  • Demonstrated safe control of modular, shape-changing robots through a physical interface.
  • Validated platform efficacy and generalizability across diverse morphologies (Mori3, Roombots) and tasks (pick-and-place, locomotion, workspace expansion).

Conclusions:

  • The proposed platform enhances the adaptability of modular robot collectives.
  • User-guided control via physical interfaces facilitates complex operations in dynamic robotic systems.