ICRA 2012 Paper Abstract


Paper WeB210.4

Wolfe, Kevin (Johns Hopkins University), Moses, Matthew S (Johns Hopkins University), Kutzer, Michael Dennis Mays (Johns Hopkins University Applied Physics Laboratory), Chirikjian, Gregory (Johns Hopkins University)

M3Express: A Low-Cost Independently-Mobile Reconfigurable Modular Robot

Scheduled for presentation during the Interactive Session "Interactive Session WeB-2" (WeB210), Wednesday, May 16, 2012, 11:00−11:30, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 20, 2018

Keywords Cellular and Modular Robots, Mechanism Design of Mobile Robots, Education Robotics


This paper presents M3Express (Modular-Mobile-Multirobot) a new design for a low-cost modular robot. The robot is self-mobile, with three independently driven wheels that also serve as connectors. The new connectors can be automatically operated, and are based on stationary magnets coupled to mechanically actuated ferromagnetic yoke pieces. Extensive use is made of plastic castings, laser cut plastic sheets, and low-cost motors and electronic components. Modules interface with a host PC via Bluetooth radio. An off-board camera, along with a set of modules and a control PC form a convenient, low-cost system for rapidly developing and testing control algorithms for modular reconfigurable robots. Experimental results demonstrate mechanical docking, connector strength, and accuracy of dead reckoning locomotion.



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