M-BOTS: Reconfigurable Modular Robots with Bluetooth Control

IEEE/ASME Transactions on Mechatronics, 2002

The goal of the Conro Project is to build deployable modular robots that can reconfigure into different shapes such as snakes or hexapods. Each Conro module is, itself, a robot and hence a Conro robot is actually a multirobot system. In this paper we present an overview of the Conro modules, the design approach, an overview of the mechanical and electrical systems and a discussion on size versus power requirement of the module. Each module is self-contained; it has its own processor, power supply, communication system, sensors and actuators. The modules, although self-contained, were designed to work in groups, as part of a large modular robot. We conclude the paper by describing some of the robots that we have built using the Conro modules and describing the miniature custom-made Conro camera as an example of the type of sensors that can be carried as payload by these robots.

Over the past decade, the utilization of mobile robots in commercial and defense industries has rapidly increased. These robots are purpose-built to perform specific tasks and have proven to be particularly valuable in dangerous environments where human presence may be problematic. However, identifying hazardous areas for workers, soldiers, and emergencies during disasters and providing real-time surveillance data remain significant challenges. Conventional approaches, such as manual surveillance and mapping uncharted territories are time-consuming and susceptible to human error. UGVs enable standoff operations, which lowers or eliminates these problems in demanding, and hazardous conditions. This paper discusses the design and development of Rakshak: a modular UGV as a first response mechanism for 360°of real-time surveillance by mapping unknown areas and small-payload-based logistics operations. Teleoperation of the UGV is via radio transmission, a reliable and efficient method of communication. The modular design of the UGV allows for flexibility in adapting to various applications. Data acquisition and transfer to the mobile application are accomplished through Wi-Fi communication.

—This paper presents an economical yet effective robot using an Arduino microcontroller and Android Smartphone. Generally surveillance robots consists a high cost microcontroller, video camera, GPS (Global Positioning System) module, GSM (Global System for Mobile) module, audio systems and a costly and complicated communication system. Modern Smartphones are built with the hardware that satisfy all the above requirements. The adoption of a Smartphone greatly reduces the cost of building a typical surveillance and rescue robot. The robot can be controlled remotely using Internet from a laptop or tablet. The live video feedback is obtained from the camera of Smartphone. Data from the sensors of Smart phone such as geographic location, acceleration, etc is sent by the Smartphone to the user. The Robot is equipped with robotic arm and various critical sensors and detectors. Features such as obstacle avoidance and solar power gives robot the freedom to explore and rescue in all type of environment.

1999

This paper describes the development of small mobile robots for collaborative surveillance tasks. Each of the robots, called Millibots, has only limited sensing, computation, and communication capabilities. However, by collaborating with other robots, they can still perform useful tasks. The task that we are considering is collaborative mapping and exploration inside buildings. To guarantee accessibility through narrow passageways, the robots

This paper proposes a method for controlling a Wireless robot for multipurpose in the sense surveillance, rescue operations and weather reporting, human detection, geographical location etc., Generally surveillance robots consists a high cost microcontroller, Bluetooth module or Wi-Fi modules, audio systems and a costly and complicated communication system. Raspberry pi b model is a credit card size single board computer. It is built with the Wi-Fi, Bluetooth modules and USB ports and in built Broadcom BCM2837 processor that gives very speed processing and audio, video jacks and camera interfacing port, HDMI port and Ethernet ports is available. This board will meet our requirements. The Robot is equipped with various critical sensors, detectors and Camera. The live video feedback is obtained from the camera. Data from the sensors is send to the Smartphone at user end. Latest Raspberry pi board is used on robot to interface with sensors and camera. It is having an in built Wi-Fi. An Android Smartphone sends a wireless command through robot controlled app which is received by Raspberry pi board and accordingly robot moves.

International Journal of Online Engineering, 2013

In this paper a hardware and software architecture based on a modular approach for a reconfigurable mobile robot is developed with intended use as remote experiment. A Field Programmable Gate Array (FPGA) was chosen as control unit for the robot and allows the implementation of custom hardware and software by the user. FPGA configurations are downloaded to the robot using a selectable wireless interface. Users can take control of all elementary robot hardware, and an on-system recovery mechanism is included to ensure a fallback to a golden image in case of errors in downloaded bit streams.

Lecture Notes in Mechanical Engineering

Natural disasters like earthquakes/landslides are sudden events that cause widespread destruction, major collateral damage including loss of life. The loss cannot be completely prevented but it can be reduced. People stuck in rubble/debris from the collapsed buildings can be rescued, but that operation must be performed in a very short span of time and requires the intervention of skilled personnel to avoid further risking, and the lives of the victims trapped underneath. In this paper, we present the design and control of search and reconnaissance robot (SRR)-a robot that aims at traversing on all terrains and locating the position of survivors inside the debris for quick rescue operations and cutting down on the necessity of trained manpower. The standout feature of SRR from other existing ATVs is the active articulating chassis to allow climbing and overcoming obstacles of size much greater than its wheel diameter. Module separation allows the robot to go into tight spaces where the whole body does not fit. The design of the active articulating chassis, modularity with a locking mechanism, the entire control of the vehicle and the various modes of operation are presented.

International Journal of Mechanical and Production Engineering Research and Development, 2020

The primary problem for which the bot is designed is to make an autonomous gadget capable of handling issues of natural disaster by finding the trapped victims and making a clear and safe path for the rescue workers to reach ground zero. It can be implemented during earthquakes, building collapse and other land based disasters. Various components have been considered during Bot designing to make it autonomous and perform functions without human intervention. A rocker-bogie mechanism allows easy movement on rough terrain. Robotic arms with multiple DOF allows easy approach to difficult places for lifting and moving objects. A remote control system in case the autonomous system fails, 3 wide angle cameras for side viewing and a High definition camera for head vision as well as 360 degree view. Loader for removing debris near the lower chassis. New concept puncture proof tires implemented using additive manufacturing. Tubular space frame manufactured using square hollow tubes with implementation of DFMA principles. Fully equipped with sensors like LiDAR, RADAR, SONAR, Stereo Camera, IMU, GPS using a distinct software architecture which handles the task of perception, mapping, control and surveillance. All these together minimise the risk faced by rescue workers during rescue operations.

Springer Handbook of Robotics, 2008

In order to summarize the status of rescue robotics, this chapter will cover the basic characteristics of disasters and their impact on robotic design, describe the robots actually used in disasters to date, promising robot designs (e.g., snakes, legged locomotion) and concepts (e.g., robot teams or swarms, sensor networks), methods of evaluation in benchmarks for rescue robotics, and conclude with a discussion of the fundamental problems and open issues facing rescue robotics, and their evolution from an interesting idea to widespread adoption. The Chapter will concentrate on the rescue phase, not recovery, with the understanding that capabilities for rescue can be applied to, and extended for, the recovery phase. The use of robots in the prevention and preparedness phases of disaster management are outside the scope of this chapter.

arXiv (Cornell University), 2022

For a robot to be perfect and enter the everyday life of humans,like computers did, it needs to move from special-purpose robots to general-purpose. So, the idea of modularity is considered in this project. Thus, any type of task that falls in the 4 D's of Robotisation: Dull, Dirty, Dangerous and Dear can be achieved by adding a module to the robot.