Features of Individual and Collective Operation of Mobile SEMS Modular Type on Basis of Octahedral Dodekapod in Conditions of Incomplete Certainty

  • Sergey N. SayapinEmail author
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 261)


Problem statement: the article presents the problem of situational monitoring and manipulation operations using mobile robotic systems for individual and collective (Swarm Systems) operations under conditions of incomplete certainty, for example, in an environment opaque to optical, radio, ultrasonic and other physical control methods. Purpose of research: the aim of the research is to solve the problem with the help of an original mobile intelligent adaptive spatial parallel robot of modular type with 12 d.o.f., called the Octahedral dodekapod (OD). Results: it is shown that the OD can be operated individually and as part of Swarm Systems, as well as combined with other similar robots in reconfigurable mobile robotic structures. The ends of the rods of the adjacent edges of the octahedral structure are interconnected by spherical hinges. This provides the spatial structure with geometric immutability when the linear rod drives are switched off and all the rods work only on tension/compression. As a result, the OD has a higher specific carrying capacity compared to other types of spatial mobile robots. The description of the OD and its functionality are given. Practical significance: One of the functionality of this robot is the ability through mechanical contact to build 3D-maps of the surrounding space with reference to the base (inertial) coordinate system. This makes it possible to move the OD and to monitor the environment, as well as to make manipulation operations “blindly” in conditions of incomplete certainty, for example, in an environment opaque to optical, radio, ultrasonic and other physical methods of control. This gives undeniable advantages over other types of mobile robotic systems when operating under conditions of incomplete certainty. Examples of possible application of OD under extreme conditions with incomplete certainty in different environments are shown.


Mobile parallel robot SEMS Octahedral dodekapod (OD) 3D maps of the surrounding space Monitoring under conditions of incomplete certainty 


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Blagonravov Mechanical Engineering Research Institute of the Russian Academy of SciencesMoscowRussia
  2. 2.Bauman Moscow State Technical UniversityMoscowRussia

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