@conference {Liang2022,
	title = {Energy Sharing Mechanism for a Freeform Robotic System - FreeBOT},
	booktitle = {2022 International Conference on Robotics and Automation (ICRA)},
	year = {2022},
	pages = {4232{\textendash}4238},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Philadelphia, PA, USA},
	abstract = {Energy sharing in modular self-reconfigurable robots ensures the energy balance of the modules, thus allowing the system to work sustainably. This paper proposes an energy sharing mechanism for a novel modular self-reconfigurable robot that allows free connections among modules, termed as FreeBOT, such that each FreeBOT can share energy with peers through surface contact. Corresponding energy sharing rules are proposed to achieve an energy sharing network structure without invalid components. As alternative choices, several types of networks subjected to the above requirements are provided, which also maximize the number of FreeBOTs joining to share energy. We implement and test the prototype of the energy sharing mechanism on FreeBOT. The experimental results show that the mechanism can effectively achieve energy sharing among FreeBOTs.},
	keywords = {Automation, Prototypes, Robots},
	isbn = {978-1-7281-9682-4},
	doi = {10.1109/ICRA46639.2022.9811860},
	author = {Guanqi Liang and Yuxiao Tu and Lijun Zong and Junfeng Chen and Tin Lun Lam}
}
@conference {Tu2022,
	title = {FreeSN: A Freeform Strut-node Structured Modular Self-reconfigurable Robot - Design and Implementation},
	booktitle = {2022 International Conference on Robotics and Automation (ICRA)},
	year = {2022},
	pages = {4239{\textendash}4245},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Philadelphia, PA, USA},
	abstract = {This paper proposes a novel freeform strut-node structured modular self-reconfigurable robot (MSRR) called FreeSN, consisting of strut and node modules. A node module is mainly a low-carbon steel spherical shell. A strut module contains two freeform connectors, which provide strong magnetic connections and flexible spherical motions. The FreeSN system shares the benefits of freeform connection and strut-node structures. The freeform connection brings good adaptability to the environment. The triangle substructures inside the system configuration significantly improve the structural stability. The parallel execution of module motions can superpose the module capabilities and makes the system more scalable. The modules can combine these robot features by selecting the system configuration and better fit different circumstances and tasks. Four demonstrations, including assembly, obstacle crossing, transportation, and object manipulation, are designed to show the capabilities of the FreeSN system in different aspects. The results show the great performance and versatility of this MSRR system.},
	keywords = {Automation, Connectors, Robots, Steel, Structural engineering, Task analysis, Transportation},
	isbn = {978-1-7281-9682-4},
	doi = {10.1109/ICRA46639.2022.9811583},
	author = {Yuxiao Tu and Guanqi Liang and Tin Lun Lam}
}
