Attribute Based Comparison and Selection of Modular Self-Reconfigurable Robot Using Multiple Attribute Decision Making Approach
From the last decades, there is a significant technological advancement in the field of robotics, and a number of modular self-reconfigurable robots were introduced that can help in space exploration, bucket to stuff, search, and rescue operation during earthquake, etc. As there are numbers of self-reconfigurable robots, choosing the optimum one is always a concern for robot user since there is an increase in available features, facilities, complexity, etc. The objective of this research work is to present a multiple attribute decision making based methodology for coding, evaluation, comparison ranking and selection of modular self-reconfigurable robots using a technique for order preferences by similarity to ideal solution approach. However, 86 attributes that affect the structure and performance are identified. A database for modular self-reconfigurable robot on the basis of different pertinent attribute is generated. This database is very useful for the user, for selecting a robot that suits their operational needs. Two visual methods namely linear graph and spider chart are proposed for ranking of modular self-reconfigurable robots. Using five robots (Atron, Smores, Polybot, M-Tran 3, Superbot), an example is illustrated, and raking of the robots is successfully done, which shows that Smores is the best robot for the operational need illustrated, and this methodology is found to be very effective and simple to use.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1316564Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 542
 D. Rus, M. Vona, “A basis for self-reconfigurable robots using crystal modules,” In Proceedings of the IEEE/RSJ International conference on intelligent robot and system, pp 2194-2202, 2000.
 M. Yim, W. Shen, B. Salami, D. Rus, M. Moll, H. Lipson, E. Klavins, G. Chirikjian, “Modular self-reconfigurable robot system- challenges and opportunities for future, ”IEEE Robotics & Automation Magazine, 2007.
 M. Yim, D.G. Duff, and K.D. Roufas, “Polybot: A modular reconfigurable robot,” Proceedings of the IEEE International conference on Robotics & Automation, pp. 514-520, 2000.
 D.J. Christensen, S. Kaspaer, “Selecting a module to shape-change the ATRON self-reconfigurable robot,” Proceedings of the IEEE International conference on Robotics & Automation, pp. 2532-2538, 2006.
 H. Kurokawa, K. Tomita, A. Kamimura, S. Kokaji, T. Hasuo, S. Murata, "Distributed Self-reconfiguration of M-TRAN III Modular Robotic System," International Journal Robotics Research, vol. 27 (3-4), pp. 373-386, 2008.
 H. Shang, D. Wei, R. Kang, Y Chen, “Gait analysis and control of a deployable robot,”Mechanism and machine theory, vol. 120, pp. 107-119, 2018.
 J. Baca, S. G.M Hossain, P. Dasgupta, C. A. Nelson, A. Dutta, “ModRED: Hardware design and reconfiguration planning for a high dexterity modular self-reconfigurable robot for extra-terrestrial exploration, ”Robotics and Autonomous Systems vol. 62, pp. 1002–1015, 2014.
 S. Murata, and H. Kurokawa, “Self-Reconfigurable Robot: Shape-Changing Cellular Robots Can Exceed Conventional Robot Flexibility,” IEEE Robotics & Automation Magazine, 2007.
 M. Yim, P. White, M. Park, J.Sastra, “Modular Self-Reconfigurable robots,” School of Engineering and Applied Science, University of Pennsylvania, Philadelphia, USA
 L. Pfotzer, S. Klemm, A. Roennau, J.M. Zöllner, R. Dillmann, “Autonomous navigation for reconfigurable snake-like robots in challenging, unknown environments,” Robotics and Autonomous Systems, doi: 10.1016/j.robot.2016.11.010, 2016.
 J. Davey, N. Kwok, and M. Yim, “Emulating self-reconfigurable robots–design of the Smores system,” IEER/RSJ International conference on intelligent robot and systems, Vilamoura, Algarve, Portugal, pp. 4464-4469, 2012.
 A. Valente, “Reconfigurable industrial robots: A stochastic programming approach for designing and assembling robotic arms,” Robotics and Computer Integrated Manufacturing vol. 41, pp.115–126, 2016.
 Z. Yang, Z. Fu, G. Yu, J. Fei, H. Zheng, “A self-repairing approach for the M-Lattice modular robotic system using digital hormone model,” Robotics and Autonomous Systems vol. 97, pp. 1–15, 2017.
 J. Baca, B. Woosley, P. Dasgupta, C. A. Nelson, “Configuration discovery of modular self-reconfigurable robots: Real-time, distributed, IR + X-Bee communication method,” Robotics and Autonomous System, doi: 10.1016/j.robot.2017.01.012, 2017.
 P. P. Bhangale & V. P. Agrawal. “Attribute based specification, comparison and selection of a robot,” Mechanism and Machine Theory, vol. 39, pp. 1345–1366, 2004.
 E. H. Stergaard, K. Kassow, R. Beck, H. Lund, “Design of the ATRON lattice-based self-reconfigurable robot,” Autonomous robot, vol.2, pp. 165-183, 2006.
 S. Murata, E. Yoshida, A. Kamimura, H. Kurokawa, K. Tomita, and S. Kokaji, “M-TRAN: Self-reconfigurable modular robotic system,” IEEE/ASME Transaction: Mechanical, vol. 7 (4), pp. 431–441, 2004.
 B. Salemi, M. Moll, and W.-M. Shen, “SUPERBOT: A deployable, multi-functional, and modular self-reconfigurable robotic system,” In Proceeding 2006 IEEE/RSJ International Conference Intelligent Robots Systems, pp. 3636–3641, 2006.