论文标题
拼图：机器人群的物理耦合
PuzzleBots: Physical Coupling of Robot Swarms
论文作者
论文摘要
已经证明机器人群可以通过机器人间协作提高单个机器人的能力。在本文中，我们介绍了Puzzlebots-一种低成本的机器人群体系统，机器人可以彼此物理彼此对彼此进行彼此融合，以形成功能最低的功能结构，同时保持单独的活动能力在环境中导航。每个机器人都沿着身体的侧面都有旋钮和孔，因此机器人可以通过将旋钮插入孔中来配对。我们介绍了旋钮设计的表征以及多达九个机器人的间隙交叉行为的结果。我们通过硬件实验表明，机器人能够彼此搭配以跨越间隙并切换以执行单个任务。我们预计，作为个人和现实世界应用中的个人和耦合系统，拼图机器人将在非结构化环境中有用。
Robot swarms have been shown to improve the ability of individual robots by inter-robot collaboration. In this paper, we present the PuzzleBots - a low-cost robotic swarm system where robots can physically couple with each other to form functional structures with minimum energy consumption while maintaining individual mobility to navigate within the environment. Each robot has knobs and holes along the sides of its body so that the robots can couple by inserting the knobs into the holes. We present the characterization of knob design and the result of gap-crossing behavior with up to nine robots. We show with hardware experiments that the robots are able to couple with each other to cross gaps and decouple to perform individual tasks. We anticipate the PuzzleBots will be useful in unstructured environments as individuals and coupled systems in real-world applications.
