模块化机器人不安全重构场景的分布式预测
Distributed prediction of unsafe reconfiguration scenarios of modular robotic Programmable Matter
摘要：
我们提出了一个分布式框架，用于预测模块化机器人的计划重新配置步骤是否会使结构机械过载，导致其在自身重量下断裂或失去稳定性。该算法由模块化机器人本身执行，并基于从机器人的简化模型导出的机械平衡方程的分布式迭代解。该模型将模块间的连接视为梁，并假设模块与地面之间无滑动接触。我们还提供了一个简化的不稳定性检测程序。该算法在可编程物质模拟器VisibleSim中进行了验证，并在模块化机器人系统Blinky Blocks上进行了实际实验。
英文摘要：
We present a distributed framework for predicting whether a planned reconfiguration step of a modular robot will mechanically overload the structure, causing it to break or lose stability under its own weight. The algorithm is executed by the modular robot itself and based on a distributed iterative solution of mechanical equilibrium equations derived from a simplified model of the robot. The model treats inter-modular connections as beams and assumes no-sliding contact between the modules and the ground. We also provide a procedure for simplified instability detection. The algorithm is verified in the Programmable Matter simulator VisibleSim, and in real-life experiments on the modular robotic system Blinky Blocks.
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