Modlab The Modular Robotics Laboratory at the University of Pennsylvania

Modlab
Archive for August, 2009
Quick Change End Effector
Quick Change End Effector

This prototype allows PR2 to change end-effectors on his own. He could trade in his hand for a different gripper, a screwdriver, or even a sensor such as a camera. The quick release mechanism makes it easy for him to attach and detach and it also features electrical connections to transfer power and communication.

Distributed Communication Fault Tolerance
Distributed Communication Fault Tolerance

An advantageous feature of modular robots is the applicability to system fault tolerance. With redundant units and parallel processing facilities, modular robots have the capability or potential to account for certain types of failures within its system. This research presents work on communication fault tolerance with CKBot.

Configuration Recognition
Configuration Recognition

The advantage of reconfiguration is central to modular robotic systems. With this benefit, however, comes a complex and interesting challenge: how does a modular robot recognize which shapes are useful or familiar? The ability for a modular robot to determine which configurations are needed for various tasks is a fundamental requirement for increased autonomy.