Modlab
The Modular Robotics Laboratory at the University of Pennsylvania
Welcome to the Modular Robotics Lab (ModLab), a subgroup of the GRASP Lab and the Mechanical Engineering and Applied Mechanics Department at the University of Pennsylvania.
A modular robot is a versatile system consisting of many simple modules that can change their configuration to suit a given task. These systems are inherently robust due to their redundancy, adaptability, and ability to self-repair. While originally focused on continuing research in the field of modular robotics, recent work at the lab has expanded to include micro/nano air vehicles and tunable stiffness for legged robot locomotion. The ModLab is comprised of undergraduate and graduate students from multiple disciplines including mechanical, electrical, and computer systems engineering.
Module Brake
We have designed a joint-locking mechanism for a new chain-style modular reconfigurable robot. This mechanism will enable the robot to perform a wide array of tasks such as dynamic motion and bio-inspired locomotion while consuming less power.
Factory Floor
The factory floor is an experimental robotic system for the construction of passive robotically-reconfigurable truss structures. The macroscopic goal of this work is to embed autonomous reconfigurability into human-built systems.
CKbot
The CKbot (Connector Kinetic roBot) is a chain style modular robot. It is designed to be fast and inexpensive while small enough to fit inside a 3 inch tube. It is manually reconfigurable into any shape while also allowing attachments such as wheels, grippers, IR proximity sensors and camera modules.
Self re-Assembly after Explosion
A car bumper is designed to crumple upon impact and protect the driver. A ski boot will detach from the ski to prevent injury to the ankle. Likewise a CKbot assembly falls apart when it is kicked, however CKbot can put itself back together again.
Isomorphic Configuration Recognition
This research involves embedded isomorphic configuration recognition for ckBot systems. Given that each ckBot module is assigned a unique node ID, a centralized algorithm uses the eigenvalues (graph spectrum) of adjacency matrices to determine if a given structure is recognized as a useful one in library of configurations and corresponding gaits. If a match is [...]
Dynamic Locomotion of CKBot
CKBot is designed to be fast allowing it to achieve dynamic locomotion. Given that CKBot is reconfigurable gives us the unique ability to research different types of dynamic locomotions in different morphologies all with the same hardware.
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University of Pennsylvania | Mechanical Engineering and Applied Mechanics |
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