Skip to main content
SpringerLink
Log in

Analysis of Use of Platonic Solids in Swarm Robotic Systems with Parallel Structure Based on SEMS

  • Chapter
  • First Online:
Smart Electromechanical Systems

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 174))

Abstract

Problem statement: one of the most important directions in the development of modern mechatronics and robotics is associated with the development of a fundamentally new class of multi-link devices that can operate in extreme, a priori uncertain conditions and have an adaptive kinematic structure, automatically rebuilt depending on the specifics of the problem. The intelligent control system of such an object should have a distributed structure and provide the possibility of autonomous operation in conditions of uncertainty, which creates a number of problems associated with the creation of algorithms of functioning, self-learning and reconfiguration. Modules of parallel structure based on Platonic solids can be successfully used to create role-based systems. The attractiveness of using Platonic solids in the construction of mobile modular robots is due to the fact that of the huge variety of polyhedrons, only they are correct and therefore modules based on each of them have unified elements and the possibility of unlimited extension along each of the faces. Purpose of research: to choose the most effective type of mobile parallel robot of parallel structure based on Platonic bodies and SEMS for autonomous and collective application. Results: the review of known and perspective mobile robots of modular type on the basis of Platonic bodies is given. The comparative analysis of similar parallel robots on the basis of which the module in the form of an octahedron is chosen as a base sample. A new modular type of spatial mobile parallel robot with 12 dof based on octahedral structure, called Octahedral dodekapod (from Greek words dodeka meaning twelve and pod meaning foot or its counterpart leg). The analysis of its functional capabilities at its Autonomous and collective (swarm) application is carried out. Practical significance: the Octahedral dodekapod can be successfully applied for the solution of individual and collective tasks in extreme, a priori undefined conditions. Its adaptive kinematic structure makes it possible to combine with similar modules to form multifunctional active intelligent robotic systems to solve a wide variety of problems.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 84.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 109.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Bonabeau, E., Dorigo, M., Theraulaz, G.: Swarm Intelligence: From Natural to Artificial Systems, p. 320. Oxford University Press, Oxford (1999)

    MATH  Google Scholar 

  2. Groß, R.: Self-assembling robots. Ph.D. thesis, Universite Libre de Bruxelles, Belgium (2007)

    Google Scholar 

  3. Yu, Ch.H.: Biologically-inspired control for self-adaptive multiagent systems. Ph.D. thesis, Harvard University Cambridge, Massachusetts (2010)

    Google Scholar 

  4. Kernbach, S., Meister, E., Schlachter, F., Kernbach, O.: Adaptation and Self-Adaptation Of Developmental Multi-Robot Systems. Int. J. Adv. Intell. Syst. 3(1 & 2), 121–140 (2010)

    Google Scholar 

  5. Yu, C.H., Werfel, J., Nagpal, R.: Collective decision-making in multi-agent systems by implicit leadership. In: van der Hoek, W., Kaminka, G.A., Lespérance, Y., Luck, M., Sen, S. (eds.) AAMAS ‘10 Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems, vol. 3, Toronto, Canada, May 10–14, 2010, pp. 1189–1196. Association for Computing Machinery Press, New York, NY (2010)

    Google Scholar 

  6. Kadochnikov, M.: Mechatronno-modulnye roboty s adaptivnoy kinematicheskoy strukturoy: modely, algoritmy i programmnoe obespechenie system upravleniya (Mechatronic module robots with adaptive kinematic structure: models, algorithms and software of control systems), 196 p. Moscow, LAP LAMBERT Academic Publishing (2012) (in Russian)

    Google Scholar 

  7. Gradetskiy, V.G. et al.: Upravlyaemoe dvijenie mobilnych robotov po proizvolno orientirovannym v prostranstve poverxnostyam (Controlled movement of mobile robots in space on arbitrary orientation surfaces), 361 p. Moscow, Nauka Publ. (2001) (in Russian)

    Google Scholar 

  8. Gradetskiy V.G. et al.: Mechanika miniatyurnych robotov (Mechanics of miniature robots). Moscow, Nauka Publ., (2010) (in Russian)

    Google Scholar 

  9. Sayapin, S.N., Siniov, A.V.: Adaptive mobile 3D manipulator and method of organizing displacements and control over physical-mechanical properties, geometrical share of contact surface and displacement trajectory hereby. Russian Federation Patent 2424893, 11 Jan 2009

    Google Scholar 

  10. Sayapin, S.N., Karpenko, A.P., Dang, S.H., Kokushkin, V.V.: Application of mobile spatial parallel robot of “Dodekapod” type for diagnistics of branched out pipelines with variable cross-section. Eng. Autom Prob. 1, 26–40 (2016) (in Russian)

    Google Scholar 

  11. Vasiliev, A.V.: Printsipy postroeniya I classificatsiya shassi mobilnych robotov nazemnogo primeneniya I planetochodov (Development and Classification Principles of Ground Mobile Robots and Planet Rovers Chassis). Nauchno-technicheskie vedomosty of SPb. Polytechnical Institute, 1, 124–131 (2013) (in Russian)

    Google Scholar 

  12. Floreano, D., Mattiussi, C.: Bio-inspired artificial intelligence: theories, methods, and technologies, 659 p. The MIT Press, London, England, Cambridge, Massachusetts (2008)

    Google Scholar 

  13. Handbook of collective robotics: fundamentals and challenges, ed. Serge Kernbach. Singapore: Pan Stanford Publishing, Singapore (2013)

    Google Scholar 

  14. Anderson, C., Theraulaz, G., Deneubourg, J.-L.: Self-assemblages in insect societies. Insectes Sociaux 49, 99–110 (2002)

    Article  Google Scholar 

  15. Thompson, K.: Swarm behavior and organizational teams. The Bumble Bee. http://www.bioteams.com/2006/03/21/swarm_behavior_and.html

  16. Mondada, F., Gambardella, L.M., Floreano, D., et al.: The cooperation of swarm-bots: physical interactions in collective robotics. Robot. Autom. Mag., IEEE 12(2), 21–28 (2005)

    Article  Google Scholar 

  17. Mondada, F., Bonani, M., Guignard, A., et al.: Superlinear physical performances in a SWARM-BOT. In: Capcarrèr, M.S., Freitas, A.A., Bentley, P.J., Johnson, C.G., Timmis, J. (eds.) Advances in Artificial Life. Proceedings of the 8th European Conference, pp. 282–291, ECAL 2005, Canterbury, UK, 5–9 Sept 2005. Springer, Berlin, Heidelberg (2005)

    Chapter  Google Scholar 

  18. Ivanov, A.V., Yurevich, E.I., Ивaнoв, A.B.: Mini- i Microrobototechnika (Mini- and Microrobotics), 96 p. SPb Publishing house of Polytechnical Institute. (2011) (in Russian)

    Google Scholar 

  19. Magnus, V.: Modely mnogogrannikov (Models of Polyhedrons), 236 p. Moscow, Mir Publ., (1974) (in Russian)

    Google Scholar 

  20. Martin, G.: Transformation Geometry: An Introduction to Symmetry. Springer, New York, NY (1982)

    Book  Google Scholar 

  21. Wang, M., Wang, C., Hao, X.Q., Li, X., Vaughn, T.J., Zhang, Y.Y., Yu, Y., Li, Z.Y., Song, M.P., Yang, H.B., Li, X.: From trigonal bipyramidal to platonic solids: self-assembly and self-sorting study of terpyridine-based 3D architectures. J. Am. Chem. Soc. 136(29), 10499–10507 (2014)

    Article  Google Scholar 

  22. Solem, J.C.: Self-assembling micrites based on the platonic solids. Robot. Auton. Syst. 38(2), 69–92 (2002)

    Article  Google Scholar 

  23. Sayapin, S.N.: Parallel spatial robots of dodecapod type. J. Mach. Manuf. Reliab. Allerton Press, USA 41(6), 457–466 (2012)

    Article  Google Scholar 

  24. Sayapin, S., Karpenko, A., Hiep, D.X.: DODEKAPOD as universal intelligent structure for adaptive parallel spatial self-moving modular robots. In: Waldron, K.J., Tokhi, M.O., Virk, G.S. (eds.) Nature-Inspired Mobile Robotics, pp. 163–170. World Scientific, Singapore (2013)

    Google Scholar 

  25. Sayapin, S.N., Karpenko, A.P., Dang, S.H. Universal adaptive spatial parallel robots of module type based on the Platonic solids. Universal adaptive spatial parallel robots of module type based on the Platonic solids. Lecture Notes in Engineering and Computer Science, pp. 1365–1370 (2014)

    Google Scholar 

  26. Sayapin, S.N.: Octahedral dodekapod is novel universal adaptive spatial parallel mobile robot of module type based on the Platonic solids. In: Proceedings of the XI All-Russian Congress on Fundamental Problems of Theoretical and Applied Mechanical, pp. 3364–3365, Kazan, Russia, 20–24 Aug 2015, Kazan University Publ. (2015) (in Russian)

    Google Scholar 

  27. Sayapin, S.N.: Analysis and synthesis of flexible spaceborne precision large mechanisms and designs of space radiotelescopes of the petal type, Doctor Tech. Sci. Dissertation. M, IMash RAN, Moscow (2003) (in Russian)

    Google Scholar 

  28. Sayapin, S.N., Siniov, A.V.: The analysis and prospect of use of devices of increase of a course of a target link with reference to micro-and nanorosots. In: Proceedings of International Workshop on Micro- and Nano Production Technologies and Systems, pp. 151–155, 17–18 Oct 2007. Moscow, Russia (2007)

    Google Scholar 

  29. Sayapin, S.N., Sineov, A.V.: Linear drive. Russian Federation Patent 2373611, 20 Nov 2009

    Google Scholar 

  30. Merlet, J.-P.: Parallel Robots, 2nd edn. Springer, Dordrecht, Netherlands (2006)

    MATH  Google Scholar 

  31. Curtis, S., Brandt, M., Bowers, G., Brown, G., Cheung, C., Cooperider, C., Desch, M., Desch, N., Dorband, J., Gregory, K., Lee, K., Lunsford, A., Minetto, F., Truszkowski, W., Wesenberg, R., Vranish, J., Abrahantes, M., Clark. P., Capon, T., Weaker, M., Watson, R., Olivier, P., Rilee, M.L.: IEEE A&E Systems Magazine, pp. 22–30, June 2007

    Google Scholar 

  32. Belisle, R., Yu, C., Nagpal, R.: Mechanical design and locomotion of modular-expanding robots. In: Stoy, K., Nagpal, R., Shen, W.-M. (eds.) Proceedings of the IEEE 2010 International Conference on Robotics and Automation workshop “Modular Robots: State of the Art”, pp. 17–23, 3 May 2010. Alaska, AK, USA (2010)

    Google Scholar 

  33. Agrawal, S.K., Kumar, S., Yim, M., Suh, J.W.: Polyhedral single degree-of-freedom expanding structures. In: Proceedings of the 2001 IEEE International Conference on Robotics & Automation, pp. 2228–2243, Seoul, Korea, 21–26 May 2001

    Google Scholar 

  34. Agrawal, S.K., Kumar, S., Yim, M.: Polyhedral single degree-of-freedom expanding structures: design and prototypes. J. Mech. Des. 124, 473–478 (2002)

    Article  Google Scholar 

  35. Ding, W., Wu, J., Yao, Y.A.: Three-dimensional construction and omni-directional rolling analysis of a novel frame-like lattice modular robot. Chin. J. Mech. Eng. 28(4), 691–701 (2015)

    Article  Google Scholar 

  36. Clarka, P.E., Curtis, S.A., Rilee, M.L.: A new paradigm for robotic rovers. Phys. Procedia 20, 308–318 (2011)

    Article  Google Scholar 

  37. Stoy, K., Lyder, A., Garzia, R.F.M., Christensen, D.J: Hierarchical robots. In: Proc., IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Workshop on Self-Reconfigurable Robots, pp. 1–4, San Diego, USA (2007)

    Google Scholar 

  38. Pieber, M., Gerstmayr, J.: An adaptive robot with tetrahedral cells. In: Proceedings of the 4th Joint International Conference on Multibody System Dynamics, Montreal, Canada, May 29–June 2, 2016

    Google Scholar 

  39. Pieber, M., Gerstmayr, J.: A framework for cellular robots with tetrahedral structure. In: Roth, P.M., Vincze, M., Kubinger, W., Müller, A., Blaschitz, B., Stolc, S. (eds.) Proceedings of the OAGM&ARW Joint Workshop Vision, Automation and Robotics on “Vision, Automation and Robotics”, pp. 5–6, 10–12 May 2017. Vienna, Austria, (2017)

    Google Scholar 

  40. Sayapin, S.N.: Intelligence self-propelled planar parallel robot for sliding cupping-glass massage for back and chest. In: Hu, Z., Petoukhov, S., He, M. (eds.) Advances in Artificial Systems for Medicine and Education, Series “Advances in Intelligent Systems and Computing”, vol. 658, pp. 166–175, 360 p, Springer, Cham, Switzerland (2018). https://doi.org/10.1007/978-3-319-67349-3_15

    Google Scholar 

  41. Sayapin, S., Siniov, A.: The adaptive spatial mobile robot - manipulator and way of diagnostics of physical and mechanical properties and the geometrical form of a surface of contact and trajectory of movement with his help. In: Abstracts book. XXII International Congress of Theoretical and Applied Mechanics, p. 217, ICTAM 2008. Adelaide, Australia, 25–29 Aug 2008

    Google Scholar 

  42. Sayapin, S., Siniov, A.: The adaptive spatial mobile robot - manipulator and way of diagnostics of physical and mechanical properties and the geometrical form of a surface of contact and trajectory of movement with his help. In: CD-ROM Proceedings XXII International Congress of Theoretical and Applied Mechanics, ICTAM 2008, 25–29 Aug 2008. Adelaide, Australia. ISBN: 978-0-9805 142-1-6, Index of author 11555

    Google Scholar 

  43. Sayapin, S.N., Sinev, A.V.: The adaptive spatial mobile robot manipulator and way of control of geometrical shape of the contacted surface and the trajectory of movement with his help. In: Proceedings of Symposium on Robotics and Mechatronics, 4–6 Nov 2008, Moscow, pp. 121–123, VVC, Pav. No. 69, Moscow, Russia (2008)

    Google Scholar 

  44. Sayapin, S.N., Sinev, A.V.: The adaptive spatial mobile robot - manipulator and way of diagnostics of physical and mechanical properties and the geometrical form of a surface of contact and trajectory of movement with his help. In: Proceedings of Conference “Problems of Mechanical Engineering Research”, Mocквa, pp. 464–466, 13–14 Nov 2008, Moscow (2008)

    Google Scholar 

  45. Sayapin, S.N.: Mobile parallel robot-manipulator “Octahedral dodekapod”: history, present and future. Eng. Autom. Prob., 3, 26–44 (2018) (in Russian)

    Google Scholar 

  46. Sayapin, S.N., Siniov, A.V. (2012) Dodekapod as universal intelligent structure for adaptive parallel spatial self-moving modular robots. In: Bai, Y., Wang, J., Fang, D. (eds.) Proceedings of the 23rd International Congress of Theoretical and Applied Mechanics, 19–24 Aug 2012, Beijing, China. The International Union of Theoretical and Applied Mechanics. The Chinese Society of Theoretical and Applied Mechanics. China Science Literature Publishing House. ISBN: 978-988-16022-3-7. Beijing, China. SM16-021 (2012)

    Google Scholar 

  47. Sayapin, S.N.: Dodekapod is novel module type of spatial parallel robot. In: Proceedings of Conference “Development of Extreme Robotics in Russia”, pp. 58–60, 21–24 May 2013, Moscow, VVC, Pav. 75, Moscow (2013)

    Google Scholar 

  48. Karpenko, A.P., Dang, H.S., Sayapin, S.N.: The algorithm for the movement of dodekapod in the linear cylindrical pipe with variable cross-section. Nauka i obrazovanie, MGTU im. N.E. Baumana. Elektronniy zhurnal - Science and Education, the Bauman Moscow State Technical University. Electronic Journal, 8 (2013). https://doi.org/10.7463/0813.0587740 [in Russian]

  49. Sayapin, S.N., Sokolov A.I.: Linear Drive. Russian Federation Patent 2499163, 20 Nov 2013

    Google Scholar 

  50. Sayapin, S.N., Karpenko, A.P., Dang, S.H. Universal adaptive spatial parallel robots of module type based on the platonic solids. In: Ao, S.I., Gelman. L., Hukins, D.W.L., Hunter, A., Korsunsky, A.M. (eds.) Proceedings of the World Congress on Engineering 2014, vol II, pp. 1365–1370, 2–4 July 2014, London, U.C. Newswood Limited, International Association of Engineering, Hong Kong. ISBN: 978-988-19253-5-0, ISSN: 2078-0958 (2014)

    Google Scholar 

  51. Sayapin, S.N., Sinev, A.V.: Adaptive spatial mobile robot manipulator and method of organization of movements and control of physical and mechanical properties and geometrical shape of the contacted surface and the path of movement with it. Inventors Mech. Eng. Mach. Tools, 8, 2–4 (2014) ISSN: 2074-6954

    Google Scholar 

  52. Sayapin, S.N., Karpenko, A.P., Dang, S.H.: Universal adaptive spatial parallel robots of module type based on the platonic solids. In: Physical and Mathematical Problems of Advanced Technology Development: Abstract of International Scientific Conference, pp. 22–23, 17–19 Nov 2014, BMSTU, Moscow (2014). ISBN: 978-5-7038-4071-9

    Google Scholar 

  53. Sayapin, S.N.: An adaptive portable spatial rehabilitation robot manipulator and a means of organizing movements and its use for patient diagnosis. Russian Federation Patent 2564754, 10 Oct 2015

    Google Scholar 

  54. Sayapin, S., Karpenko, A., Dang, S.: Self-propelled intelligent robotic vehicle based on octahedral dodekapod to move in active branched pipelines with variable cross-sections”, world academy of science, engineering and technology, international science index 108. Int. J. Mech. Aerosp. Ind. Mechatron. Manuf. Eng. 9(12), 2038–2044 (2015)

    Google Scholar 

  55. Dang, H.S., Karpenko, A.P., Sayapin, S.N.: In pipe parallel robot dodekapod type. In: Extreme Robotics, Proc. Int. Sc.-Tech. Conf. S.-Petersburg: “AP4Print”, pp. 334–339 (2016)

    Google Scholar 

  56. Sayapin, S.N.: Novel principles of creation of portable self-propelled autonomous massage robots with triangular and octahedral parallel structures. Med. High Technol. 1, 64–72 (2017)

    Google Scholar 

  57. Sayapin, S.N.: Principles of the design of an adaptive mobile spatial rehabilitation manipulator robot based on an octahedral dodecapod. Biomed. Eng. 51(4), 296–299 (2017)

    Article  Google Scholar 

  58. Sayapin, S.N., Karpenko, A.P., Dang, S.H.: Application of mobile parallel robots for diagnostics of active pipelines with variable cross-section. In: Proc. of III Sc.-Practical Seminar “Povyshenie nadegnosty magistralnych gazoprovodov, podvergennych korrozionnomu rastreskivaniyu pod napryageniem (KRN 2017)”, p. 33, Moscow, 20–22 Sept 2017, “Gazprom VNIIGAZ” (2017)

    Google Scholar 

  59. Sayapin, S., Sayapina, E.: Novel approach to creation of portable self-propelled autonomous massage robots with triangular and octahedral parallel structures. In: WSEAS Transactions on Computers, ISSN/E-ISSN: 1109-2750/2224-2872, vol. 16, Art. #14, pp. 124–132 (2017)

    Google Scholar 

  60. Sayapin, S.N.: Novel principles of creation of robotics massager with parallel structure based on triangular and octahedral self-propelled modules. In: Fundamental and Applied Problems of Mechanics: Abstract of International Scientific Conference, p. 95, 24–27 November 2017, BMSTU, Moscow (2017). ISBN: 978-5-7038-4800-5

    Google Scholar 

  61. Yu, Ch.-H., Nagpal, R.: Self-adapting modular robotics: a generalized distributed consensus framework. In: Robotics and Automation, 2009. ICRA ‘09. IEEE International Conference on, 12–17 May 2009, Kobe, Japan, 1881-1888. Institute of Electrical and Electronics Engineers, Piscataway, NJ (2009)

    Google Scholar 

  62. Yu, H., Ma, P., Cao, Ch.: A novel in-pipe worming robot based on SMA. In: Proceedings of 2005 IEEE International Conference on Mechatronics and Automation, vol. IV, pp. 923–927, July 29–August 1, 2005. Niagara Fails, Ontario, Canada (2005)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Mechanical Engineering Research named after A. A. Blagonravov of the Russian Academy of Sciences, Moscow, Russia

    Sergey N. Sayapin

  2. Bauman Moscow State Technical University, Moscow, Russia

    Sergey N. Sayapin

Authors
  1. Sergey N. Sayapin
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Sergey N. Sayapin .

Editor information

Editors and Affiliations

  1. Institute of Problems of Mechanical Engineering, Russian Academy of Sciences, Saint Petersburg, Russia

    Andrey E. Gorodetskiy

  2. Institute of Problems of Mechanical Engineering, Russian Academy of Sciences, Saint Petersburg, Russia

    Irina L. Tarasova

Rights and permissions

Reprints and permissions

Copyright information

© 2019 Springer Nature Switzerland AG

About this chapter

Check for updates. Verify currency and authenticity via CrossMark

Cite this chapter

Sayapin, S.N. (2019). Analysis of Use of Platonic Solids in Swarm Robotic Systems with Parallel Structure Based on SEMS. In: Gorodetskiy, A., Tarasova, I. (eds) Smart Electromechanical Systems. Studies in Systems, Decision and Control, vol 174. Springer, Cham. https://doi.org/10.1007/978-3-319-99759-9_5

Download citation

Publish with us

Policies and ethics

Search

Navigation