Docking and Undocking a Modular Underactuated Oscillating Swimming Robot
This addresses the challenge of precise control for modular self-assembly in low-cost aquatic robots, though it appears incremental as it builds on existing modular robotic systems.
The paper tackled the problem of docking and undocking for the Modboat, an underactuated oscillating swimming robot, by developing a strategy and motion primitive that enabled successful docking in multiple configurations and undocking without extra actuation.
We describe a docking mechanism and strategy to allow modular self-assembly for the Modboat: an inexpensive underactuated oscillating swimming robot powered by a single motor. Because propulsion is achieved through oscillation, orientation can be controlled only in the average; this complicates docking, which requires precise position and orientation control. Given these challenges, we present a docking strategy and a motion primitive for controlling orientation, and show that this strategy allows successful docking in multiple configurations. Moreover, we demonstrate that the Modboat is also capable of undocking and changing its dock configuration, all without any additional actuation. This is unique among similar modular robotic systems.