Docking and Undocking a Modular Underactuated Oscillating Swimming Robot

TL;DR

This paper presents a novel docking and undocking strategy for a modular, underactuated oscillating swimming robot, enabling self-assembly and reconfiguration without extra actuation, despite propulsion limitations.

Contribution

The paper introduces a new docking mechanism and control strategy tailored for underactuated oscillating robots, facilitating successful self-assembly and reconfiguration.

Findings

Successful docking in multiple configurations

Capability of undocking and changing dock configurations

Docking strategy effective despite oscillation-based propulsion

Abstract

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.