ModCube：模块化、自组装的立方体水下机器人
ModCube: Modular, Self-Assembling Cubic Underwater Robot
AI总结：
本研究提出低成本模块化自组装水下机器人平台ModCube，给出动态行为表征可视化方法与4项形态性能基准，经水箱实验验证其全向任务优势与鲁棒性，并开源设计代码助力水下群体协同研究。
摘要：
本文提出了一种低成本的集中式模块化水下机器人平台ModCube，可用于研究水下环境中各类任务的群体协同问题。ModCube结构由多个ModCube机器人组成，每个机器人配备8个推进器，可实现6自由度运动，还能通过机载计算机控制的电磁铁与其他ModCube机器人刚性连接。本文提出了一种表征和可视化动态行为的新方法，同时设计了4项基准测试来评估机器人的形态性能。分析表明，与商用水下机器人广泛采用的配置相比，ModCube设计更适用于全向任务。我们在两个水箱中开展了真实机器人实验，验证了所提系统的鲁棒控制能力与自组装性能，同时开源了设计方案与代码以推动后续研究。
英文摘要：
This paper presents a low-cost, centralized modular underwater robot platform, ModCube, which can be used to study swarm coordination for a wide range of tasks in underwater environments. A ModCube structure consists of multiple ModCube robots. Each robot can move in six DoF with eight thrusters and can be rigidly connected to other ModCube robots with an electromagnet controlled by onboard computer. In this paper, we present a novel method for characterizing and visualizing dynamic behavior, along with four benchmarks to evaluate the morphological performance of the robot. Analysis shows that our ModCube design is desirable for omnidirectional tasks, compared with the configurations widely used by commercial underwater robots. We run real robot experiments in two water tanks to demonstrate the robust control and self-assemble of the proposed system, We also open-source the design and code to facilitate future research.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
