Systems and methods for modular units in electro-mechanical systems

• US 9,597,796 B2
• Filed: 05/11/2015
• Issued: 03/21/2017
• Est. Priority Date: 05/09/2014
• Status: Active Grant

• Current Assignee: Carnegie Mellon University
• Original Assignee: Carnegie Mellon University
• Inventors: Rollinson, David, Enner, Florian, Tesch, Matthew, Choset, Howie, Layton, Frederic Curtis
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US14/708,360
• Publication Number:
  US 20150321348A1
• Time in Patent Office: 680 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/065 Snake robots
• CPC Class Codes: B25J 9/08 characterised by modular constructions
• CPC Class Codes: B25J 9/12 electric
• CPC Class Codes: Y10S 901/23 Electric motor

Abstract

Systems and methods are provided for an electro-mechanical system. A system includes a plurality of connected modules. A first module of the modules includes an actuator for imparting motion on the electro-mechanical system and a data processor configured to sense a state of the first module and to command the actuator to modify the state of the first module.

Claims

1. An electro-mechanical system, comprising:

a plurality of connected modules, a first module of the modules comprising;

an actuator for imparting motion on the electro-mechanical system;

a data processor configured to sense a state of the first module and to command the actuator to modify the state of the first module to fulfill a received command;

a three port switch, wherein a first port is configured for communication with a second module, wherein a second port is configured for communication with a third module, and wherein a third port is configured for communication with the data processor.

2. The system of claim 1, wherein at least two of the connected modules are identical modules.

3. The system of claim 1, wherein the first module is configured to have one degree of freedom in a first plane;

wherein a second module that is connected to the first module is configured to have one degree of freedom in a second plane that differs from the first plane.

4. The system of claim 3, wherein the second plane is orthogonal to the first plane.

5. The system of claim 3, wherein a first end of the first module is configured to rotate relative to a second end of the first module in the first plane.

6. The system of claim 1, wherein the first module further comprises an interface for achieving a physical connection and a data connection with a second module of the connected modules.

7. The system of claim 6, wherein the interface of the first module includes a threaded collar configured to connect to an interface of the second module.

8. The system of claim 6, wherein the first module is configured to communicate with the second module via an Ethernet standard.

9. The system of claim 8, wherein the first module is further configured to communicate with an external entity via the Ethernet standard;

wherein all communications among the first module, the second module, and the external entity are via the Ethernet standard.

10. The system of claim 1, wherein the system is configured to operate utilizing between 2 and N connected modules, wherein N is an integer greater than 2.

11. The system of claim 1, wherein the system is configured to detect a number n of the connected modules that are incorporated into the system, wherein n is an integer greater than 2, and wherein the first module is configured to determine its position in a series of at least two connected modules.

19. The system of claim 1, wherein the first module is configured to transmit sensor data from a plurality of sensors to an external entity in packet form, wherein a single packet contains data from multiple sensors associated with the first module.

20. The system of claim 1, wherein the system is further configured to include a unique module that is different from all other modules.

21. The system of claim 1, wherein the system is configured to comprise a module that includes a servoactuator configured to apply a torque on a wheel portion of the servoactuator module.

22. The system of claim 21, wherein the wheel portion is configured to be connected to a turnable body.

28. The system of claim 1, wherein a first command is transmitted from an external entity to the first module as a soft real time command, wherein, based on the first command, the data processor issues a second command to the actuator that is a hard real time command.

29. The system of claim 1, wherein a first command is transmitted from an external entity to the first module that commands an end result of the system comprising the plurality of connected modules, wherein the data processor of the first module and data processors of other modules determine intermediate commands to associated actuators to achieve the end result.

30. The system of claim 1, further comprising a head module that is connected to exactly one of the connected modules, wherein the head module includes one or more sensors that are not included on the connected modules.

31. The system of claim 30, wherein the head module includes a camera sensor.

32. The system of claim 1, further comprising a tail module that is connected to exactly one of the connected modules, wherein the tail module includes a communication mechanism for communicating with an external entity, wherein the communication mechanism is a wired or wireless communication mechanism.

33. The system of claim 1, wherein communications among the connected modules or between an external entity and the first module are encrypted.

34. The system of claim 1, further comprising an interface module, wherein the interface module is connected to one of the connected modules, wherein the interface module does not include an integral degree of freedom, wherein the interface module includes one or more ports for connection to a sensor or an actuator.

35. The system of claim 1, wherein the first module is configurable to be connected with other modules to form a snake robot;

and wherein the first module is configurable to be connected with other modules to form a multi-legged robot having 1 to n legs, wherein n is an integer greater than 1.

36. The system of claim 1, wherein the electro-mechanical system is a robot.

37. The system of claim 1, wherein the electro-mechanical system is a system used in automation.

12. An electro-mechanical system, comprising:

a plurality of connected modules, a first module of the modules comprising;

an actuator for imparting motion on the electro-mechanical system;

a data processor configured to sense a state of the first module and to command the actuator to modify the state of the first module to fulfill a received command;

wherein the first module is configured to determine its position in a series of at least two connected modules, wherein the first module is configured to determine its position by;

enabling an input port to the first module and disabling the output port of the first module and other modules in the series on initialization;

transmitting a signal from an external entity to an initial module in the series of module, wherein only the initial module will receive the signal based on the disabled output port of the first module;

storing an indicator at the initial module that it is module number one;

enabling the output port of the initial module;

transmitting a second signal from the external entity, wherein the initial module and an immediately following module receive the second signal based on the disabled output port of the following module;

storing an indicator at the following module that it is module number two.

13. An electro-mechanical system, comprising:

a plurality of connected modules, a first module of the modules comprising;

an actuator for imparting motion on the electro-mechanical system;

a data processor configured to sense a state of the first module and to command the actuator to modify the state of the first module to fulfill a received command;

wherein the first module is configured to determine its position in a series of at least two connected modules, wherein the first module is configured to determine its position by detecting a change in a configuration characteristic of a second module that is connected directly to the first module.

14. The system of claim 13, wherein the configuration characteristic change is a swapping of a transmit and a receive channel at the second module.

15. An electro-mechanical system, comprising:

a plurality of connected modules, a first module of the modules comprising;

an actuator for imparting motion on the electro-mechanical system;

a data processor configured to sense a state of the first module and to command the actuator to modify the state of the first module to fulfill a received command;

wherein the first module is configured to determine its position in a series of at least two connected modules, wherein the data processor implements a model for modeling a physical parameter of the first module based on a second parameter of a different type than the physical parameter, wherein the data processor is configured to command the actuator based on the modeled physical parameter.

16. The system of claim 15, wherein the physical parameter is a temperature parameter, wherein the data processor is configured to overdrive the actuator beyond a threshold based on the modeled temperature parameter being below a predefined level.

17. The system of claim 15, wherein the physical parameter is a spring coefficient of an elastic component of the actuator, wherein the first module is configured to periodically calibrate to adjust the spring coefficient.

18. The system of claim 17, wherein the data processor is configured to command the actuator to apply a torque to the elastic component based on a desired position of the first module and the adjusted spring coefficient.

23. An electro-mechanical system, comprising:

a plurality of connected modules, a first module of the modules comprising;

an actuator for imparting motion on the electro-mechanical system;

a data processor configured to sense a state of the first module and to command the actuator to modify the state of the first module to fulfill a received command;

wherein the system is configured to comprise a module that includes a servoactuator configured to apply a torque on a wheel portion of the servoactuator module, wherein the wheel portion is configured to be connected to a turnable body;

wherein a state of the wheel portion is detected based on an initial low resolution measurement and a plurality of subsequent high resolution measurements.

24. The system of claim 23, wherein the low resolution measurement identifies an approximate position of the wheel portion, and wherein the high resolution measurements identify rotation of the wheel portion from the approximate position.

25. An electro-mechanical system, comprising:

a plurality of connected modules, a first module of the modules comprising;

an actuator for imparting motion on the electro-mechanical system;

a data processor configured to sense a state of the first module and to command the actuator to modify the state of the first module to fulfill a received command;

wherein the system is configured to comprise a module that includes a servoactuator configured to apply a torque on a wheel portion of the servoactuator module, wherein the servoactuator module comprises a plurality of T Slot frame portions.

26. An electro-mechanical system, comprising:

a plurality of connected modules, a first module of the modules comprising;

an actuator for imparting motion on the electro-mechanical system;

a data processor configured to sense a state of the first module and to command the actuator to modify the state of the first module to fulfill a received command;

wherein the first module comprises one or more lights, wherein a camera external to the first module determines a state of the first module based on the one or more lights.

27. The system of claim 26, wherein the state is determined based on a color, brightness, or flashing of the one or more lights.