文献类型：期刊文献

英文题名：MR-Robot: A Key-Lock Structured Modular Resilient Robot-Design and Implementation

作者：Qian, Zhiqin[1]; Xu, Biao[1]; Zhang, Mingda[1]; Wang, Zihe[2]; Wang, Baoying[3]; Zhu, Wujun[1]; Huang, Qijun[2]; Zhang, Wenjun[4,5]; Zhang, Tan[2]

机构：[1] School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, 200237, China; [2] College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen, 518118, China; [3] Department of Computer Science, University of Sydney, Camperdown, NSW, 2006, Australia; [4] School of Mechatronics and Automation Engineering, Shanghai University, China; [5] Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, Canada

年份：2025

外文期刊名：IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

收录：EI(收录号：20260820119981)

语种：英文

外文关键词：Electronic data interchange - Intelligent robots - Inverse kinematics - Inverse problems - Modular robots - Motion planning

摘要：Robotic systems operating in unstructured environments are prone to damage, posing significant challenges for task continuity and system recovery. To address this, we propose a modular resilient robot designed to autonomously recover functionality following partial damage. MR-Robot features a novel"key-lock" docking mechanism implemented via male and female connectors, with the female connector incorporating a multilayer structure that supports docking, locking, disassembly, and joint mode switching. This architecture enables seamless transitions between full actuation and under-actuation modes. A kinematic model is developed and an inverse kinematics solution is formulated to support precise motion planning. To minimize wiring complexity and enhance scalability, a lightweight MQTT-based communication protocol is adopted for intermodule data exchange. Furthermore, closed-loop control using a PID algorithm ensures accurate joint positioning. A functional prototype has been developed to validate the proposed design. Experimental results demonstrate MR-Robot’s capability for autonomous docking and its adaptability through transitions between active and passive joint states, confirming its potential for resilient robotic applications in challenging environments. ? 2025 IEEE.