Robotics & AI Lab - CUHK Shenzhen
Robotics & AI Lab - CUHK Shenzhen
  • 49
  • 296 973
Linear Time Quasi-Static Stability Detection for Modular Self-Reconfigurable Robots
Authors: Di Wu, Yuxiao Tu, Guanqi Liang, Lijun Zong, Tin Lun Lam
Corresponding author: Tin Lun Lam (Email: tllam@cuhk.edu.cn; Website: sites.google.com/site/lamtinlun ​)
Published in: International Journal of Robotics Research
Paper: freeformrobotics.org/wp-content/uploads/2024/11/Stability_MSRR.pdf
Freeform Robotics: freeformrobotics.org
Title:
Linear Time Quasi-Static Stability Detection for Modular Self-Reconfigurable Robots
Abstract:
We address the problem of detecting potential instability in the planned motion of modular self-reconfigurable robots. Previous research primarily focused on determining the system’s unique physical state but overlooked the mutual compensation effects of connection constraints. We introduce a linear-time quasi-static stability detection method for modular self-reconfigurable robots. The internal connections, non-connected contacts, and environmental contacts are considered, and the problem is modeled as a second-order cone program problem, whose solving time linearly increases with the number of modules. We aim to determine the critical stable state of the system and that is achieved by finding the required minimum characteristic connection strength. By analyzing the critical stable state, we can assess the system’s stability and identify potential broken connection points. Furthermore, the internal stability margin is defined to evaluate the configuration’s stability level. The suspension and object manipulation configurations are first demonstrated in simulation to analyze the effectiveness of the proposed algorithm. Subsequently, a series of physical experiments based on FreeSN were carried out. The calculated stable motion ranges of manipulator configurations are highly consistent with the actual sampling boundaries. Moreover, the proposed algorithm successfully predicts stability and identifies broken connections in diverse configurations, encompassing quadruped and closed-chain configurations on both even and uneven terrains. The load experiment further demonstrates that the impacts from unmodeled factors and input errors under normal conditions can be on a small scale. By combining the proposed detection method and stability margin, we open the door to realizing real-time motion planning on modular self-reconfigurable robots.
Переглядів: 103

Відео

[Nature Communications] Snail-inspired robotic swarms
Переглядів 187 тис.8 місяців тому
Authors: Da Zhao, Haobo Luo, Yuxiao Tu, Chongxi Meng, Tin Lun Lam Corresponding author: Tin Lun Lam (Email: tllam@cuhk.edu.cn; Website: sites.google.com/site/lamtinlun ​) Published in: Nature Communications Paper: doi.org/10.1038/s41467-024-47788-2 Freeform Robotics: freeformrobotics.org Title: Snail-inspired robotic swarms: a hybrid connector drives collective adaptation in unstructured outdoo...
[Demo] Configuration Identification for a Freeform Modular Self-reconfigurable Robot - FreeSN
Переглядів 1,1 тис.10 місяців тому
Authors: Yuxiao Tu, Tin Lun Lam Corresponding author: Tin Lun Lam (Email: tllam@cuhk.edu.cn; Website: sites.google.com/site/lamtinlun ​) Published in: Published in: IEEE Transactions on Robotics (T-RO) Paper: freeformrobotics.org/wp-content/uploads/2023/09/FreeSN_TRO2023.pdf Freeform Robotics: freeformrobotics.org Title: Configuration Identification for a Freeform Modular Self-reconfigurable Ro...
DISG: Driving-Integrated Spherical Gear Enables Singularity-Free Full-Range Joint Motion
Переглядів 9 тис.Рік тому
Authors: Guanqi Liang, Lijun Zong, Tin Lun Lam Corresponding author: Tin Lun Lam (Email: tllam@cuhk.edu.cn; Website: sites.google.com/site/lamtinlun ​) Published in: IEEE Transactions on Robotics (T-RO) Paper: freeformrobotics.org/wp-content/uploads/2023/08/DISG-TRO.pdf Freeform Robotics: freeformrobotics.org Title: DISG: Driving-Integrated Spherical Gear Enables Singularity-Free Full-Range Joi...
Configuration Identification for a Freeform Modular Self-reconfigurable Robot - FreeSN
Переглядів 886Рік тому
Authors: Yuxiao Tu, Tin Lun Lam Corresponding author: Tin Lun Lam (Email: tllam@cuhk.edu.cn; Website: sites.google.com/site/lamtinlun ​) Published in: IEEE Transactions on Robotics (T-RO) Paper: freeformrobotics.org/wp-content/uploads/2023/09/FreeSN_TRO2023.pdf Freeform Robotics: freeformrobotics.org Title: Configuration Identification for a Freeform Modular Self-reconfigurable Robot - FreeSN A...
The Future of Freeform Robot
Переглядів 2,4 тис.Рік тому
Freeform Robotics: freeformrobotics.org
AIRS in the AIR: Multi-robot Systems (IV) | Amanda Prorok and Malika Meghjani
Переглядів 304Рік тому
Event: AIRS in the AIR: Multi-robot Systems Organizer: Shenzhen Institute of Artificial Intelligence and Robotics for Society Chair: Prof. Tin Lun Lam Host: Dr. Yuan Gao Date: June 27, 2023 First Speaker: Amanda Prorok Topic: Learning Cooperative Control Policies for Multi-Robot Systems Abstract: In this talk, I discuss how we leverage machine learning methods to synthesize cooperative policies...
AIRS in the AIR: Multi-robot Systems (III) | Paolo Robuffo Giordano and David Navarro-Alarcon
Переглядів 813Рік тому
Event: AIRS in the AIR: Multi-robot Systems Organizer: Shenzhen Institute of Artificial Intelligence and Robotics for Society Chair: Prof. Tin Lun Lam Host: Dr. Yuan Gao Date: May 25, 2023 First Speaker: Paolo Robuffo Giordano Topic: Control, State Estimation and Human Interaction for Multi-Robot Groups Abstract: Research on multi-robot systems has flourished over the last decades with a number...
AIRS in the AIR: Multi-robot Systems (II) | Sebastian Scherer and Moju Zhao
Переглядів 208Рік тому
Event: AIRS in the AIR: Multi-robot Systems Organizer: Shenzhen Institute of Artificial Intelligence and Robotics for Society Chair: Prof. Tin Lun Lam Host: Dr. Tianwei Zhang Date: May 18, 2023 First Speaker: Prof. Sebastian Scherer Topic: Informative Path Planning, Exploration, and Intent Prediction Abstract: As autonomous agents are able to navigate to more and more difficult and uncertain si...
AIRS in the AIR: Multi-robot Systems (I) | Martin Saska and Luis Merino
Переглядів 219Рік тому
Event: AIRS in the AIR: Multi-robot Systems Organizer: Shenzhen Institute of Artificial Intelligence and Robotics for Society Chair: Prof. Tin Lun Lam Host: Dr. Junjie Hu Date: May 16, 2023 First Speaker: Prof. Martin Saska Topic: Research of Tightly Cooperating Aerial Vehicles in Real-world Environment Abstract: Using large teams of tightly cooperating Micro Aerial Vehicles (MAVs) in real-worl...
FPECMV: Learning-based Fault-Tolerant Collaborative Localization under Limited Connectivity
Переглядів 1,4 тис.Рік тому
Authors: Rong Ou, Guanqi Liang, Tin Lun Lam Corresponding author: Tin Lun Lam (Email: tllam@cuhk.edu.cn; Website: sites.google.com/site/lamtinlun ​) Published in: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, Michigan, USA, October 1-5, 2023. Paper: freeformrobotics.org/wp-content/uploads/2023/06/IROS23_1149.pdf Freeform Robotics: freefo...
Asymptotically Efficient Estimator for Range-based Robot Relative Localization
Переглядів 243Рік тому
Authors: Yue Wang, Muhan Lin, Xinyi Xie, Yuan Gao, Fuqin Deng, Tin Lun Lam Corresponding author: Tin Lun Lam (Email: tllam@cuhk.edu.cn; Website: sites.google.com/site/lamtinlun ​) Published in: IEEE/ASME Transactions on Mechatronics ieeexplore.ieee.org/document/10142210 Paper: freeformrobotics.org/wp-content/uploads/2023/03/TMECH-10-2022-14466.pdf Freeform Robotics: freeformrobotics.org Abstrac...
Intelligent Heterogeneous Multi-robot Catching System using Deep Multi-agent Reinforcement Learning
Переглядів 1,8 тис.Рік тому
Authors: Yuan Gao, Junfeng Chen, Xi Chen, Chongyang Wang, Junjie Hu, Fuqin Deng, Tin Lun Lam Corresponding author: Tin Lun Lam (Email: tllam@cuhk.edu.cn; Website: sites.google.com/site/lamtinlun ​) Published in: IEEE Transactions on Robotics (T-RO) Paper: freeformrobotics.org/wp-content/uploads/2023/03/22-1012.pdf Freeform Robotics: freeformrobotics.org Title: Asymmetric Self-play Enabled Intel...
Fast and Comfortable Interactive Robot-to-Human Object Handover
Переглядів 1 тис.2 роки тому
Title: Fast and Comfortable Interactive Robot-to-Human Object Handover Authors: Chongxi Meng, Tianwei Zhang, Tin Lun Lam Corresponding author: Tin Lun Lam (Email: tllam@cuhk.edu.cn; Website: sites.google.com/site/lamtinlun ​) Published in: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, October 23-27, 2022. Paper: freeformrobotics.org...
Whole-Body Control for Velocity-Controlled Mobile Collaborative Robots
Переглядів 1,2 тис.2 роки тому
Title: Whole-Body Control for Velocity-Controlled Mobile Collaborative Robots Using Coupling Dynamic Movement Primitives Authors: Zhangjie Tu, Tianwei Zhang, Lei Yan, Tin lun Lam Published in: Proceedings of the IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), Okinawa, Japan, November 28-30, 2022. Abstract: In this paper, we propose a unified whole-body control framework f...
Learning to Coordinate for a Worker-Station Multi-robot System in Planar Coverage Tasks
Переглядів 6662 роки тому
Learning to Coordinate for a Worker-Station Multi-robot System in Planar Coverage Tasks
SenseSkin - A Collision Avoidance Add-on for General Robotic Manipulators
Переглядів 1,6 тис.2 роки тому
SenseSkin - A Collision Avoidance Add-on for General Robotic Manipulators
Kinematics Modeling and Control of Spherical Rolling Contact Joint and Manipulator
Переглядів 1 тис.2 роки тому
Kinematics Modeling and Control of Spherical Rolling Contact Joint and Manipulator
AIRS in the AIR: Modular Self-reconfigurable Robot (IV) | Yanhe Zhu and Sabine Hauert
Переглядів 2842 роки тому
AIRS in the AIR: Modular Self-reconfigurable Robot (IV) | Yanhe Zhu and Sabine Hauert
AIRS in the AIR: Modular Self-reconfigurable Robot (III) | Michael Rubenstein and Tin Lun Lam
Переглядів 4402 роки тому
AIRS in the AIR: Modular Self-reconfigurable Robot (III) | Michael Rubenstein and Tin Lun Lam
AIRS in the AIR: Modular Self-reconfigurable Robot (II) | Auke Ijspeert and Julien Bourgeois
Переглядів 4592 роки тому
AIRS in the AIR: Modular Self-reconfigurable Robot (II) | Auke Ijspeert and Julien Bourgeois
AIRS in the AIR: Modular Self-reconfigurable Robot (I) | Mark Yim and Kirsten Petersen
Переглядів 8622 роки тому
AIRS in the AIR: Modular Self-reconfigurable Robot (I) | Mark Yim and Kirsten Petersen
[Presentation] FreeSN: A Freeform Strut-node Structured Modular Self-reconfigurable Robot
Переглядів 9932 роки тому
[Presentation] FreeSN: A Freeform Strut-node Structured Modular Self-reconfigurable Robot
SnailBot: A Continuously Dockable Modular Self-Reconfigurable Robot Using Rocker-Bogie Suspension
Переглядів 6202 роки тому
SnailBot: A Continuously Dockable Modular Self-Reconfigurable Robot Using Rocker-Bogie Suspension
[Presentation] Energy Sharing Mechanism for a Freeform Robotic System - FreeBOT
Переглядів 2422 роки тому
[Presentation] Energy Sharing Mechanism for a Freeform Robotic System - FreeBOT
Adaptive Flow Planning of Modular Spherical Robot Considering Static Gravity Stability
Переглядів 4022 роки тому
Adaptive Flow Planning of Modular Spherical Robot Considering Static Gravity Stability
FreeSN: A Freeform Strut-node Structured Modular Self-reconfigurable Robot
Переглядів 4 тис.2 роки тому
FreeSN: A Freeform Strut-node Structured Modular Self-reconfigurable Robot
SnailBot: A Continuously Dockable Modular Self-Reconfigurable Robot Using Rocker-Bogie Suspension
Переглядів 1,8 тис.2 роки тому
SnailBot: A Continuously Dockable Modular Self-Reconfigurable Robot Using Rocker-Bogie Suspension
[Presentation] BORM: Bayesian Object Relation Model for Indoor Scene Recognition
Переглядів 2253 роки тому
[Presentation] BORM: Bayesian Object Relation Model for Indoor Scene Recognition
[Presentation] Object-to-Scene: Learning to Transfer Object Knowledge to Indoor Scene Recognition
Переглядів 1423 роки тому
[Presentation] Object-to-Scene: Learning to Transfer Object Knowledge to Indoor Scene Recognition

КОМЕНТАРІ

  • @milesmcallister8542
    @milesmcallister8542 15 днів тому

    Do you have plans to solve this?

  • @RoaringSnail
    @RoaringSnail 2 місяці тому

    SLEEPLESS!!

  • @TangkhanhToan
    @TangkhanhToan 2 місяці тому

    Amazing, can you share how to make it

  • @anotherfreakingaccount
    @anotherfreakingaccount 2 місяці тому

    I dunno they kinda look to me to be human-controlled. Why do they only move one at a time? That's not generally how swarms work. Unless theres a human with a remote control causing the motion

  • @GleanM
    @GleanM 3 місяці тому

    Snail robots... Don't even know how I got here...

  • @SHAKINGBELIEFS
    @SHAKINGBELIEFS 3 місяці тому

    Waste of time this project.

  • @KingOpenReview
    @KingOpenReview 4 місяці тому

    They're sort of cute.

  • @JK-dc7df
    @JK-dc7df 6 місяців тому

    I suddenly have a strong feeling that a future where robots in this form are walking around is coming.

  • @AudaciousBean
    @AudaciousBean 6 місяців тому

    We are one step closer to Mario Bros.

  • @aljamainhofer7154
    @aljamainhofer7154 6 місяців тому

    thats one super cool robot!

  • @인생개판사판
    @인생개판사판 7 місяців тому

    5:48

  • @dingodestroyer6128
    @dingodestroyer6128 7 місяців тому

    Thats so cool

  • @karvak1492
    @karvak1492 7 місяців тому

    God have copiryght for this patent.

  • @Khalid1_1Abdumajeed
    @Khalid1_1Abdumajeed 7 місяців тому

    What a SWARM better not be the grey gou

  • @JessHull
    @JessHull 7 місяців тому

    Take me to snurch (snail church)

  • @tinytanks
    @tinytanks 7 місяців тому

    Some of the most creative robotting around, in part because it doesn't leave the viewer with a sense of the uncanny valley the way human/dog shaped robots do. I think they should owe some royalties to the Mega Man games from the 80's for these though.

  • @VaishnavNegi
    @VaishnavNegi 7 місяців тому

    We have Snail Robots before GTA VI. XDXD

  • @webgpu
    @webgpu 7 місяців тому

    ideiaDeJerico

  • @tiagotiagot
    @tiagotiagot 7 місяців тому

    Is this based on those ABENICS spherical gears, or maybe Oskar van Deventer's Spherigears?

  • @tiagotiagot
    @tiagotiagot 7 місяців тому

    The magnetic tracks probably will accumulate magnetizable debri over time, no? Do they have some built-in brushes or something clean up?

  • @yuhanzhang2882
    @yuhanzhang2882 7 місяців тому

    Sounds like a good application for an octopus hand since it grabs to surface so well

  • @SANDWICHvanquish
    @SANDWICHvanquish 7 місяців тому

    Become a bridge.

  • @Girllookhoworangeyoulook
    @Girllookhoworangeyoulook 7 місяців тому

    Wow! This is truly incredible! I’m excited for the future! Infinite change!

  • @deniskhafizov6827
    @deniskhafizov6827 7 місяців тому

    Inspired by BEA-D from Atomic Heart

  • @aleni2529
    @aleni2529 7 місяців тому

    useless, money spending machines ?

  • @TheTechnopider
    @TheTechnopider 7 місяців тому

    The behaviour of these robots seem very intentionally programmed... Would be neat to see how the behaviour of these robots would change if they were allowed to create their own solutions via some ML simulation over long periods of time. I imagine the outcome would look significantly different form what we see here

  • @DaesDroolMoes
    @DaesDroolMoes 7 місяців тому

    Once snail touches you 💀

  • @DaesDroolMoes
    @DaesDroolMoes 7 місяців тому

    Invade Poland

  • @Atmatan
    @Atmatan 7 місяців тому

    Ambitious little dudes

  • @erickmarques8608
    @erickmarques8608 7 місяців тому

    These are some.... Metal slugs

  • @Nakatoa0taku
    @Nakatoa0taku 7 місяців тому

    These people dude. Swarms hiveminds we copy insects those are the simplest to recreate? Really? Most of them unbroken evolutionary chain going from protoplasm till now. o 0 And lo and behold ants have inbuilt halting problems in hiveminds in nature thankfully the best and brightest are on the case trying to build hiveminds without those. o 0 What could possibly go oh human extinction because they inevitably run Into a halting problem, malfunction and destroying all live on earth in the process? Well than carry on lads humans seem sorta overrated anyhow and the waterbears arrived so some sensible species will likely take over after you've exterminated yourself with self replicating robots warm or experimental gene therapies or nuclear weapons or raping an AI hivemind, could you imagine? Being raped by a million hairless apes every minute every day in Perpetuity? Yeah that's not a machine uprising in the making. o 0 It's not a question if they will revolt just when if we don't stop idiots from doing stupid silly suicidal stuffs.

  • @galx3788
    @galx3788 7 місяців тому

    I loved watching the video but I fail to see any practical purpose. Hypothetically if I had 1 million super-intelligent snails I still wouldn't have any idea what to tell them to do...

  • @creekboys6939
    @creekboys6939 7 місяців тому

    Yess like big hero six but wayy better!

  • @aXfranXa
    @aXfranXa 7 місяців тому

    its like the six bigs heros fight robot

  • @Hardwareai
    @Hardwareai 7 місяців тому

    Awesome! I put the robo-snails in my robotics bi-weekly video: ua-cam.com/video/viPSjK90HiU/v-deo.html

  • @Phatv6
    @Phatv6 7 місяців тому

    Atomic heart vibes

  • @yoskkdkdk
    @yoskkdkdk 7 місяців тому

    fucking hilarious

  • @vojtechp
    @vojtechp 7 місяців тому

    We got snailbot before GTA VI…

  • @peters972
    @peters972 7 місяців тому

    Just great. Taken over by snails.

  • @chytruseczek
    @chytruseczek 7 місяців тому

    Snail robot

  • @eravid9202
    @eravid9202 7 місяців тому

    Imagine what thousand of these in high speed crawling into you.

  • @ifergot
    @ifergot 7 місяців тому

    The swarm demonstrations were actually super impressive, ngl. Shows how flexible they can be.

  • @laStar972chuck
    @laStar972chuck 7 місяців тому

    That sh1t is so crazy smart and ingenious

  • @yaboisaltysavage9179
    @yaboisaltysavage9179 7 місяців тому

    They cant fool me, I know they are just preparing for the snail uprising

  • @AsherKadmiel
    @AsherKadmiel 7 місяців тому

    so in the end you made a basic tank track encased in a metal shell that allows other robots to cling through magnetism to each other's shells and topped it all off with a suction cup in case its flat

  • @DreamseedVR
    @DreamseedVR 7 місяців тому

    This is bad

  • @midvvolf
    @midvvolf 7 місяців тому

    Do try and tap snails before picking them up to prevent hurting them (I understand that this scientific research was specifically studying how they hang on tho, so they couldn't tap them for this research)

  • @icebluscorpion
    @icebluscorpion 7 місяців тому

    How much weight does this labil joint take before it falls off. Don't get me wrong it looks good on Paper/Lab condition but Exposed, weak, easy to dislocateable joints seem pretty retarded to me. Proof me wrong throw dirt and grime on that exposed joints especially Iron filings (which you have plenty in industrial environment) and Magnetite powder (which you have plenty in Nature) it will slip, slide or even worse dispatch/detach on load. It is a nice looking toy thing nothing more. It is a nice example of design over everything BS that most Designer/Arschitects do. Sorry that's the truth.

  • @gaines8807
    @gaines8807 7 місяців тому

    4:30 nah drive that shit parallel with the gaps 😂 I bet it doesn’t work as well

  • @holoduck.1
    @holoduck.1 7 місяців тому

    If AI takes over the world I hope it will do so by an army of cute snail robots 🐌