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Hi, my name is Wei Jiang and I am from USC ISI Polymorphic Robotics Laboratory
This is a demo about autonomous docking in self-reconfigurable superbot robot system
Please note that the wires connected to the modules are power wires ONLY and the two modules are running the same software
As shown in this video, the upper module is trying to use its back dock to dock with the lower module's front dock
The whole docking process can be roughly divided into two stages interchangeably:
The signal discovery&communication stage and the cooperated locomotion stage
The signal discovery&communication stage is implemented by means of the IR communication between the modules and the distributed intelligent module control mechnism.
By this, the two modules are able to know each other's status like geo info in real time
The cooperated locomotion stage is implemented by menas of the unique locomotion in superbot module and these two modules can cooperate and perform different actions such as
turning a certain angle, moving forward and backward etc
One of the most challenging difficulties for successful docking is to make the two modules aligned
This requires the modules to continuously perform minor adjustments when they dock
As shown in the video,when the two modules are being aligned and are near each other
it is the right time to activate the docking mechnism to perform docking
Thank you, everybody