模块化水下机器人可自组装，用于研究群体协作任务。
ModCube: Modular, Self-Assembling Cubic Underwater Robot
- 六自由度运动+电磁连接，实现模块自组装
- 实验证明系统具备鲁棒控制与可靠自组装能力
- 开源设计，适合水下集群研究者使用
本文提出一种低成本、集中式模块化水下机器人平台ModCube，可用于研究水下环境中多种任务的群体协调。一个ModCube结构由多个机器人组成，每个机器人具备六自由度运动能力（8个推进器），可通过机载计算机控制的电磁装置刚性连接其他机器人。本文提出一种新方法用于表征和可视化动态行为，并设计了四项基准来评估机器人的形态性能。分析表明，相比商用机器人广泛采用的配置，ModCube在全向任务中表现更优。我们在两个水箱中进行了真实机器人实验，验证了系统的鲁棒控制与自组装能力。同时，我们开源了全部设计与代码，以促进后续研究。
原文摘要 · Abstract (English)
This paper presents a low-cost, centralized modular underwater robot platform, ModCube, which can be used to study swarm coordination for a wide range of tasks in underwater environments. A ModCube structure consists of multiple ModCube robots. Each robot can move in six DoF with eight thrusters and can be rigidly connected to other ModCube robots with an electromagnet controlled by onboard computer. In this paper, we present a novel method for characterizing and visualizing dynamic behavior, along with four benchmarks to evaluate the morphological performance of the robot. Analysis shows that our ModCube design is desirable for omnidirectional tasks, compared with the configurations widely used by commercial underwater robots. We run real robot experiments in two water tanks to demonstrate the robust control and self-assemble of the proposed system, We also open-source the design and code to facilitate future research.
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