HomeRobotic Database - Robotic platform | TERRINet

Roombots

Modular robotics for adaptive and self-organizing furniture that moves, self-assembles, and self-reconfigures. Our dream is to provide multi-functional modules that are merged with the furniture and that lay users and engineers can combine for multiple applications.

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Key features:

Controlled from centralized PC; commands over serial port on Bluetooth
3 degrees of freedom and 2 active connection mechanisms per module
Local sensors to detect docking position
10 connection surfaces per module
2 LED rings per module for visual feedback
Extensible with specialized elements (Universal Gripper, LED spotlight, camera + on-board PC)
One module can lift another module and up to 500 g as payload in the end effector
Easy-to-use GUI (based on Unity; only visualization, no physics)
Position, speed or Central-Pattern-Generator (CPG) control
Off-grid (free) and on-grid locomotion

Possible applications:

Rapid prototyping of robots by coordinating multiple modules
Automatic construction of shapes or objects
Smart moving manipulator or spotlight
Novel interface to control and coordinate multiple modules at the same time

Technical specifications

Outer dofs specs:	31.5 RPM (no load), 8.4 Nm (nominal)
Inner gearbox reduction:	366:1 (custom made)
Overall dimensions:	110x110x220 mm (4.3?x4.3?x8.7?)
Weight:	1.7 kg (3.1 lb)
Degrees of freedom:	3 (continuous rotational)
Number of connection surfaces:	10 (active or passive)
Active connection type:	4-way symmetrical gender-less mechanical latches
Energy source:	4-cell LiPo battery, 1200 mAh. Autonomy ~1 hour
Communication:	Bluetooth
Inner dof specs:	20.4 RPM (no load), 4.3 Nm (nominal)
Outer motors:	Maxon RE 25
Inner motor:	Maxon RE-max 24
Outer gearboxes reduction:	305:1 (custom made)

Access information

Corresponding infrastructure	École Polytechnique Fédérale de Lausanne BioRobotics Lab
Location	Route Cantonale, 1015 Lausanne, Switzerland
Unit of access	Working day