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Self-Reconfiguration & Docking in the ORTHO-BOT Modular Concept

Increased robotic capability and usage is envisaged for future planetary missions. More industrial activity will be required in precursor robotic missions where improved autonomy and redundancy to failure is necessary for extremely remote reliable operation. A Modular Robotic (MR) design could prove beneficial in addressing these applications as well as terrestrial scenarios where remote or hazardous operation is required. In contrast to conventional robotic platforms with fixed components, the modular approach connects together many limited capability modules to form a larger more capable system akin to the way in which Lego ® building blocks can be configured to form a variety of structures. Three key benefits are promised: versatility; robustness; and low cost. The biggest challenge to an MR solution for planetary activities is that self-reconfiguration is necessary since human intervention is very limited. This involves two main considerations: mechanical, in terms of physical module and joint geometry; and reconfiguration control. Several designs have been developed having varying forms, Degrees of Freedom (DOF) and connectivity mechanisms. However self-reconfiguration remains a practical challenge to providing modular concepts with the required autonomy for remote operation. This paper reports further development of the ORTHO-BOT concept aimed at meeting this challenge. Physical module and joint geometry is described in addition to simulation approaches for exploring feasible configurations and control.