ASCE will be sunsetting the Civil Engineering Database (CEDB) in the coming months. We encourage you to start using the ASCE Library to perform content searches. In the ASCE Library, you can save your search results as well as receive email content alerts when new content relevant to your area of interest is published. Try it out today at https://ascelibrary.org.

 

Modular Robot Testbed

by Chris Grasso, Univ of Colorado, Boulder, CO, USA,
Wayne Jermstad, Univ of Colorado, Boulder, CO, USA,
Mike Mathews, Univ of Colorado, Boulder, CO, USA,
Jane Pavlich, Univ of Colorado, Boulder, CO, USA,
Jim Avery, Univ of Colorado, Boulder, CO, USA,



Document Type: Proceeding Paper

Part of: Engineering, Construction, and Operations in Space III

Abstract:

One approach to non-terrestrial construction involves the use of small, inexpensive, modular robots rather than expensive one-of-a-kind construction tools. The Modular Robots Testbed at the University of Colorado provides the means to test the software modularity and multi-robot control algorithms required for the physical manipulation of constructible elements. The testbed includes three circular, wheeled platforms. Each platform has mounted on it a high-precision positioning system, a simple manipulator, and internal/external local area digital network interfaces. Cooperation is implemented using control and data packets passed between robots and between robot components. The robots are not limited to teleoperation - they are allowed autonomous and semi-autonomous functionality to permit operation as an ensemble. The paper describes the components, software, and control strategies used in the testbed, and future expansions.

Subject Headings: Automation and robotics | Construction equipment | Modular structures | Computer software | Equipment and machinery | Control systems | Construction management

Services: Buy this book/Buy this article

 

Return to search