Projects funded by the NCN

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Information of the project and the call

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Arm-Z: an extremely modular hyper-redundant low-cost manipulator -- development of control methods and efficiency analysis

2019/33/B/ST8/02791

Keywords:

Extremely Modular System hyper-redundant manipulator Pipe-Z robustness global shape control programmable matter

Descriptors:

  • ST8_009:
  • ST7_001:
  • ST7_010:

Panel:

ST8 - Production and processes engineering: modelling, product design, process design and control, construction methods and engineering, power units and systems

Host institution :

Instytut Podstawowych Problemów Techniki Polska Akademia Nauk

woj. mazowieckie

Other projects carried out by the institution 

Principal investigator (from the host institution):

dr Maciej Daniel Zawidzki 

Number of co-investigators in the project: 5

Call: OPUS 17 - announced on 2019-03-15

Amount awarded: 752 456 PLN

Project start date (Y-m-d): 2020-01-31

Project end date (Y-m-d): 2024-12-30

Project duration:: 59 months (the same as in the proposal)

Project status: Project settled

Project description

Download the project description in a pdf file

Note - project descriptions were prepared by the authors of the applications themselves and placed in the system in an unchanged form.

Information in the final report

  • Publication in academic press/journals (8)
  • Articles in post-conference publications (13)
  • Book publications / chapters in book publications (1)
  1. Prototyp ekstremalnie modularnego hiperredundantnego manipulatora Arm-Z
    Authors:
    Zawidzka E., Zawidzki M., Kinski W.
    Academic press:
    Pomiary Automatyka Robotyka (rok: 2023, tom: 1, strony: 39-44), Wydawca: Sieć Badawcza Łukasiewicz − Przemysłowy Instytut Automatyki i Pomiarów PIAP
    Status:
    Published
    DOI:
    10.14313/PAR_247/39 - link to the publication
  2. Simulation of simple movements of Arm-Z oblique swivel joint chain manipulator
    Authors:
    Zawidzka E., Zawidzki M.
    Academic press:
    Pomiary Automatyka Robotyka (rok: 2023, tom: 44958, strony: 59-67), Wydawca: Industrial Research Institute for Automation and Measurements PIAP
    Status:
    Published
    DOI:
    link to the publication
  3. Przykłady Małej Architektury w oparciu o System Arm-Z
    Authors:
    E. Zawidzka, J. Szklarski, J. Kobaka, M. Zawidzki
    Academic press:
    POMIARY - AUTOMATYKA - ROBOTYKA (rok: 2024, tom: 2, strony: 73-80), Wydawca: Łukasiewicz - PIAP
    Status:
    Published
    DOI:
    10.14313/PAR_252/73 - link to the publication
  4. Optimization Problem of the size-scale for a Foldable Chain Scissors Structure based on Stress Analysis
    Authors:
    Keigo Y., Ario I., Zawidzki M., Yuta H.
    Academic press:
    Journal of Physics: Conference Series (rok: 2024, tom: 2647, strony: 46031), Wydawca: IOP Publishing
    Status:
    Published
    DOI:
    10.1088/1742-6596/2647/4/042005 - link to the publication
  5. MorphoGen: Topology optimization software for Extremely Modular Systems
    Authors:
    Piotr Tauzowski, Bartlomiej Blachowski, Ela Zawidzka, Machi Zawidzki
    Academic press:
    SoftwareX (rok: 2024, tom: 27, strony: 46032), Wydawca: Elsevier
    Status:
    Published
    DOI:
    10.1016/j.softx.2024.101797 - link to the publication
  6. Discrete (two-state) modular hyper-redundant planar manipulator
    Authors:
    E. Zawidzka, M. Zawidzki
    Academic press:
    Computer Assisted Methods in Engineering and Science (rok: 2022, tom: 29(4), strony: 397-407), Wydawca: IPPT PAN
    Status:
    Published
    DOI:
    link to the publication
  7. The Overview of Optimization Methods Applied to Truss-Z Modular System
    Authors:
    M. Zawidzki
    Academic press:
    Computer Assisted Methods in Engineering and Science (rok: 2020, tom: 27 (2-3), strony: 155–176), Wydawca: Instytut Podstawowych Problemów Techniki PAN
    Status:
    Published
    DOI:
    link to the publication
  8. Symulacja inspekcji przestrzennej ekstremalnie modularnym hiper-redundantnym manipulatorem Arm-Z
    Authors:
    E. Zawidzka, J. Szklarski, T. Pokiniewski, M. Zawidzki
    Status:
    Accepted for publication
  1. Reinforced Learning for Ground Movement of the Hyperreduntant Modular Robot
    Authors:
    Szklarski J., Zawidzka E., Zawidzki M.
    Conference:
    Progress in Polish Artificial Intelligence Research 5 (rok: 2024, tom: PP-RAI 2024: 5th Polish Conference on Artificial Intelligence, strony: 346-353), Wydawca: Warsaw University of Technology
    Data:
    konferencja 18 - 20.04 2024
    Status:
    Published
    DOI:
    10.17388/WUT.2024.0002.MiNI - link to the publication
  2. Preliminary Prototype of a 4-Unit Arm-Z Hyper-redundant Modular Manipulator
    Authors:
    Zawidzka E., Kiński W., Zawidzki M.
    Conference:
    AUTOMATION 2021: Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques (rok: 2021, tom: AUTOMATION 2021, strony: 285-294), Wydawca: Springer
    Data:
    konferencja 44317
    Status:
    Published
    DOI:
    10.1007/978-3-030-74893-7_27 - link to the publication
  3. Topology Optimization of a 6-DOF Arm-Z Modular Robotic Manipulator
    Authors:
    Tauzowski P., Błachowski B., Zawidzka E., Jankowski Ł., Zawidzki M.
    Conference:
    Proceedings of the Fifteenth International Conference on Computational Structures Technology (rok: 2024, tom: CST 2025: 15th International Conference on Computational Structures Technology, strony: 46030), Wydawca: Civil-Comp
    Data:
    konferencja 4-6 09 2024
    Status:
    Published
    DOI:
    10.4203/ccc.9.5.2 - link to the publication
  4. Arm-Z as a modular tracking device
    Authors:
    Zawidzka E., Szklarski J., Zawidzki M
    Conference:
    Proceedings of Seventh International Congress on Information and Communication Technology (rok: 2022, tom: ICICT 2022, strony: 429-437), Wydawca: Springer
    Data:
    konferencja 23-24 February 2022
    Status:
    Published
    DOI:
    10.1007/978-981-19-1610-6_37 - link to the publication
  5. Prototype of the Arm-Z modular solar tracker
    Authors:
    E. Zawidzka, J. Szklarski , W. Kinski, M. Zawidzki
    Conference:
    Automation 2022: New Solutions and Technologies for Automation, Robotics and Measurement Techniques (rok: 2022, tom: Automation 2022, strony: 273-282), Wydawca: Springer
    Data:
    konferencja 25 – 27 may 2022
    Status:
    Published
    DOI:
    10.1007/978-3-031-03502-9_28 - link to the publication
  6. Quasi-Static Approximation in Topology Optimization of Beam Structure Subjected to Modal Inertial Forces
    Authors:
    P. Tauzowski, M. Zawidzki and B. Blachowski
    Conference:
    Proceedings of the Eighteenth International Conference on Civil, Structural and Environmental Engineering Computing (rok: 2025, tom: CST 2025: Eighteenth International Conference on Civil, Structural and Environmental Engineering Computing, strony: 46033), Wydawca: Civil-Comp
    Data:
    konferencja 27-29 August 2025
    Status:
    Published
    DOI:
    10.4.4 - link to the publication
  7. Kinetic Street Furniture with Arm-Z
    Authors:
    Zawidzka E., Zawidzki M.
    Conference:
    WIT Transactions on the Built Environment (rok: 2022, tom: International Conference on High Performance and Optimum Structures and Materials Encompassing Shock and Impact Loading, strony: 15-22), Wydawca: WIT Press
    Data:
    konferencja 11–13 July 2022
    Status:
    Published
    DOI:
    10.2495/HPSU220021 - link to the publication
  8. Extremely Modular Arm-Z manipulator
    Authors:
    Zawidzka E., Chikahiro Y., Ario I
    Conference:
    Proceedings of the 5th National Convention of the Japan Society of Civil Engineers (rok: 2023, tom: The 5th National Convention of the Japan Society of Civil Engineers, strony: 46024), Wydawca: Japan Society of Civil Engineers
    Data:
    konferencja 14-15 września 2023
    Status:
    Published
  9. Design and construction of a 6-DOF modular robotic Arm-Z
    Authors:
    Zawalski K., Jarek M., Falkowski P., Zawidzka E., Zawidzki M.
    Conference:
    Lecture Notes in Networks and Systems (rok: 2024, tom: Automation 2024: Advances in Automation, Robotics and Measurement Techniques, strony: 139-150), Wydawca: Springer
    Data:
    konferencja 8-9 maja 2024
    Status:
    Published
    DOI:
    10.1007/978-3-031-78266-4_13 - link to the publication
  10. Optimization Problem of the size-scale for Foldable Chain Scissors Structure based on Stress Analysis
    Authors:
    Yoshida K., Ario I., Zawidzki M., Hama Y
    Conference:
    Proceedings of EURODYN 2023 – the 12th International Conference on Structural Dynamics (rok: 2023, tom: EURODYN 2023 – the 12th International Conference on Structural Dynamics, strony: 46031), Wydawca: n/a
    Data:
    konferencja 2-5 lipca 2023
    Status:
    Published
  11. Arm-Z: A Hyper-redundant Modular Inspection Manipulator (For Extreme Environments
    Authors:
    E. Zawidzka, W. Kiński, J. Szklarski, M. Zawidzki
    Conference:
    WEO 2021: 2nd Workshop on Engineering Optimization (rok: 2021, tom: WEO 2021: 2nd Workshop on Engineering Optimization, strony: 46025), Wydawca: IPPT PAN
    Data:
    konferencja 7-8.10.2021
    Status:
    Published
    DOI:
    link to the publication
  12. Simulation of 6-DOF Modular Arm-Z Manipulator in MATLAB Simulink
    Authors:
    Jarek M., Zawalski K., Falkowski P., Zawidzka E., Zawidzki M.
    Conference:
    Lecture Notes in Networks and Systems (rok: 2025, tom: Automation 2024: Advances in Automation, Robotics and Measurement Techniques, strony: 176-191), Wydawca: Springer
    Data:
    konferencja 8-9 maja 2024
    Status:
    Published
    DOI:
    10.1007/978-3-031-78266-4_16 - link to the publication
  13. Shelter-Z - a Modular System for Free-Form Backyard Bunkers
    Authors:
    M. Zawidzki, E. Zawidzka, J. Katzer, P. Miarka
    Conference:
    Archives of Civil Engineering (rok: 2027, tom: II Międzynarodowa Konferencja Wybrane Problemy Konstrukcji Budowlanych BSD 2024, strony: 46033), Wydawca: Warsaw University of Technology Publishing House
    Status:
    Accepted for publication
  1. Authors:
    Ario I., Zawidzki M.
    Book:
    Application of Group Theory to Symmetric Structures (rok: 2024, tom: 1, strony: 1-189), Wydawca: Taylor & Francis
    Status:
    Published
    DOI:
    10.1201/9781032670386 - link to the publication

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