Dtto - Modular Exploration Robot

myminifactory

Human: Designed by Alberto KL and Nathan | Licensed under CC BY-SA 4.0 Dtto Modular Exploration Robot Assembly Guide The Dtto Robot is a 3D printable modular exploration robot capable of adapting to various situations through self-reconfiguration, by changing the position and connections of individual modules. Inspired by fire ants colonies that work together as one unit, multiple modules find each other, connect mechanically, and collaborate to create collective intelligence. They can link together and build structures without central command, making it easy to replace broken modules with new ones for self-healing structures. This robot is designed for research on modular self-reconfigurable robots and educational purposes, allowing multiple modules to communicate, mechanically connect, and work collaboratively in locomotion, self-reconfigurability, and efficient movement. "You must be shapeless, formless, like water," says Bruce Lee. "When you pour water into a cup, it becomes the cup. When you pour water into a bottle, it becomes the bottle. When you pour water into a teapot, it becomes the teapot. Become like water, my friend." The Problem In natural disaster situations like hurricanes, earthquakes, and fires, people often get trapped without access to safety by themselves. Search and rescue operation teams come in to help. Most search and rescue operations are carried out by humans, requiring specialized manpower and hours of work. After working at Ground Zero on the WTC, Dr. Robin Murphy, Professor of Computer Science at University of South Florida, said: "Robots proved helpful"; "Using robots can minimize personnel on site and reduce fatigue and errors." She sees mobile robots as scouts that navigate, adapt, and perceive their surroundings. Robots will be man-packable," she says, "so small they can fit into small spaces in rubble." How it Works In robotics, designing exploration robots usually involves studying terrain characteristics first, then designing a robot according to those needs. However, when moving through unexplored and unpredictable terrain like an earthquake-affected building, you never know which obstacles you'll encounter. That's where modular robots shine. The Dtto Modular Robot has been designed with adaptability in mind, inspired by fire ants colonies that work together as one unit. Multiple modules find each other, connect mechanically, and collaborate to create collective intelligence. They can link together and build structures without central command, making it easy to replace broken modules with new ones for self-healing structures. By changing its configuration, the Dtto robot can move like a snake through small pipes, transform into a wheel-like robot to move faster, change to a centipede robot when there's no vertical space, and build a bridge to cross hanging floors. Expandability While looking for minimum size, the robot contains almost all electronics and motors in one-half, leaving a large free space in the other half. This free space can be used to install thermal cameras, microphones, speakers, multiple sensors, more actuators (like grippers), or even more batteries. Acknowledgements Special thanks to Dr. Jose Luís Ramírez and Dr. Juan González-Gómez "Obijuan" for their support and help every time I needed it. The robot has been fully printed with open-source 3D printers, uses open-source hardware, and was designed entirely on FreeCad. This robot is inspired by the MTRAN III, developed by The National Institute of Advanced Industrial Science and Technology (AIST), Japan. Specifications Small and self-contained robot Fully 3D printable Self-reconfiguration capabilities Bluetooth + Radio communication Multiple locomotion modes (snake, wheel, walker...) Rechargeable batteries Simulation model validated Cheap modules (<55 USD) Open Source Hardware and Software