• Juan González-Gómez, Houxiang Zhang, Eduardo Boemo and Jianwei Zhang, ”Locomotion of a Modular Robot with Eight Pitch-Yaw-Connecting Modules”, 9th International Conference on Climbing and Walking Robots. CLAWAR06. Brussels, September 2006.
  
  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.

Authors

• Juan González Gómez

• Houxiang Zhang

• Eduardo Boemo

• Jianwei Zhang

Videos

• 1D sinusoidal gait

• Turning

• Lateral shifting

• Rotating

• Rolling

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Bibliography

• The references of the paper are avaible here

IEA ROBOTICS