1 Introduction Publicaciones

Locomotion Capabilities of a Modular Robot with Eight Pitch-Yaw-Connecting Modules

Juan Gonzalez-Gomez, Eduardo Boemo

Computer Engineering School, Universidad Autonoma de Madrid, Spain

Houxiang Zhang, Jianwei Zhang

TAMS, Department of Informatics, University of Hamburg, Germany

Abstract

In this paper, a general classification of the modular robots is proposed, based on their topology and the type of connection between the modules. The locomotion capabilities of the sub-group of pitch-yaw connecting robots are analyzed. Five different gaits have been implemented and tested on a real robot composed of eight modules. One of them, rotating, has not been previously achieved. All gaits are implemented using a simple and elegant central pattern generator (CPG) approach that simplify the algorithms of the controlling system.

• 1 Introduction

• 2 A general classification of the modular robots

• 3 An overview of the new pitch-yaw connecting modular robot

  • 1 Mechanics

• 2 Control hardware

• 4 Control approach

• 5 Locomotion capabilities

  • 1 1D sinusoidal gait

• 2 Turning gait

• 3 Rolling gait

• 4 Rotating gait

• 5 Lateral shift

• 6 Locomotion areas

• 6 Experiments

• 7 Conclusion and future work

• Bibliography

• About this document ...