Title :
CoBoLD — A bonding mechanism for modular self-reconfigurable mobile robots
Author :
Liedke, Jens ; Wörn, Heinz
Author_Institution :
Inst. for Process Control & Robot., Karlsruhe Inst. of Technol. - KIT, Karlsruhe, Germany
Abstract :
Within this paper, CoBoLD - short for Cone Bolt Locking Device - a bonding mechanism for modular self-reconfigurable autonomous mobile robots is presented. The docking unit is used to physically connect modular robots and/or toolboxes in order to form complex structures and robotic organisms. CoBoLD is specially designed to combine essential features like genderlessness, symmetry, high stiffness, integrated force sensors and electrical contacts, while still using a simple and low cost, easy to manufacture setup. Next to a detailed description of CoBoLDs assembly, first trails and their results are shown in this paper. CoBoLD is used at several different robotic platforms and toolboxes within the EU founded projects SYMBRION and REPLICATOR.
Keywords :
elasticity; force sensors; mobile robots; robotic assembly; CoBoLD assembly; EU founded projects; REPLICATOR project; SYMBRION project; bonding mechanism; cone bolt locking device; docking unit; electrical contacts; force sensors; genderlessness features; modular self-reconflgurable autonomous mobile robots; robotic organisms; robotic platforms; stiffness features; symmetry features; Bonding; Contacts; Fasteners; Mobile robots; Sensors; Springs; Bonding Mechanism; Docking Unit; Modular Robots; Self-Reconfiguration;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
DOI :
10.1109/ROBIO.2011.6181589
