Diferencia entre revisiones de «Training on modular snake robots»
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(→Session 3: Software installation and programming) |
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== Introduction == | == Introduction == | ||
− | + | The last few years have witnessed an increasing interest in modular reconfigurable robotics. The applications include industrial inspection, urban search and rescue, space applications and military reconnaissance. They are also very interesting for research purposes. Modular robots are composed of some identical or similar units which can attach and detach each other and are capable of changing the configurations. | |
− | + | ||
− | + | Some modular prototypes are quite famous, such as Polybot from Mark Yim, CONRO and SuperBot from Information Sciences Institute and Computer Science, M-TRAN robot from Kamimura. Some common ideas of these prototypes lie in two points. Normally this kind of robots consists of many modules which are able to change the way they are connected. In further the modular approach enables robots the reconfiguration capability which is very essential in such tasks which are difficult for a fixed-shape robot. It also enables the mobile robotic system the characteristics of versatility, robustness, low-cost and fast-prototyping so that new configurations of different robots can be built fast and easily, for the exploration, testing and analysis of new ideas. More exciting advantage is that the robots have the capability of adopting different locomotion to match various tasks and suit complex environments. | |
+ | |||
+ | Robotics has emerged as a useful tool in education because robots provide ideas of science and technology. It connects the student with the science and technology easily. In this training program, we would like to use modular robots for educational purposes. the participators will work with educational robots and modular robots to learn the following aspects: | ||
+ | |||
+ | * '''Building modular mobile robots and simple kinematic chains''' | ||
+ | * '''Programming of elementary robot skills and behaviours''' | ||
+ | * '''Locomotion control based on bio-inspired methods''' | ||
+ | * '''Testing for cooperating tasks''' | ||
+ | |||
+ | We also hope that the participators could apply theory and model learned in the robotics related course to real robot systems so to gain experiences in working with physical sensors, actuators and robot programming. | ||
+ | |||
+ | |||
+ | All information here will be improved according to our new working experimence regularly. | ||
== Programme == | == Programme == | ||
Línea 14: | Línea 26: | ||
| | | | ||
* '''Session 1: Introduction''' | * '''Session 1: Introduction''' | ||
− | : ''About ourselves. Introduction to modular robotics. Overview of the training on modular snake robots'' | + | : * ''About ourselves.'' |
+ | : * ''Introduction to modular robotics([http://www.iearobotics.com/wiki/images/e/e1/Modular_robots_introduction.pdf PDF])'' | ||
+ | : * ''Overview of the training on modular snake robots (As shown below)'' | ||
+ | |||
+ | |||
* '''Session 2: Building the MY1 modules''' | * '''Session 2: Building the MY1 modules''' | ||
Línea 20: | Línea 36: | ||
|} | |} | ||
− | === Day 2 === | + | === <font color=blue>Day 2</font> === |
+ | {| {{tablabonita}} | ||
+ | | | ||
* '''Session 3: Software installation''' | * '''Session 3: Software installation''' | ||
: ''Installing the SDCC C compiler. Installing and testing the Codeblocks IDE. Installing and testing the Pydownloader tool. Introduction to the Skycube board. More programming examples'' | : ''Installing the SDCC C compiler. Installing and testing the Codeblocks IDE. Installing and testing the Pydownloader tool. Introduction to the Skycube board. More programming examples'' | ||
* '''Session 4: Servo controlling''' | * '''Session 4: Servo controlling''' | ||
− | + | : Introduction to servo controlling. Programming the sevos. Introduction to the sinusoidal generators. Programming oscillations. Experiment 1: "The wave". Experiment 2: "The big wave" | |
− | + | |} | |
− | |||
− | |||
− | === Day 3 === | + | === <font color=blue>Day 3</font> === |
+ | {| {{tablabonita}} | ||
+ | | | ||
+ | :<font color=green>'''First Challenge!'''</font> ''Building a 30 modules caterpillar robot'' | ||
− | * | + | * '''Session 5: Locomotion in 1D (I)''' |
+ | : ''Finish the 10 Unimods A1. Minicube-I assembling. Experiments on the locomotion of Minicube-I. Building the Cube3 configuration. Experiments on the locomotion of Cube3'' | ||
− | * '''Session | + | * '''Session 6: Locomotion in 1D (II)''' |
− | + | :''Building the Cube6 configuration. Locomotion experiments. Building the Cube12 configuration. Locomotion experiments. Building the Cube30 configuration! Locomotion experiments. Locomotion principles. Introduction to the serpenoid curve'' | |
− | + | |} | |
− | |||
− | |||
− | + | === <font color=blue>Day 4</font> === | |
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | === | ||
− | |||
− | |||
− | + | {| {{tablabonita}} | |
− | + | | | |
− | + | :<font color=green>'''Second challenge!'''</font> ''Building a 30-module snake!!'' | |
− | |||
− | |||
− | * '''Session | + | * '''Session 7: Locomotion in 2D (I)''' |
− | + | :''Building 10 Unimods B1. Building 10 Unidmods 2D-B1. Building 5 Minicube-II type A1. Building 5 Minicube-II type B1. Locomotion gaits. Locomotions experiments. Building a 6 modules pith-yaw configuration. Locomotion experiments'' | |
− | |||
− | |||
− | |||
− | |||
− | + | * '''Session 8: Locomotion in 2D (II)''' | |
+ | : Building 3 snake9. Locomotion experiments. Building 1 snake18. Experiments. Building the snake30!. Locomotion experiments. | ||
+ | |} | ||
− | * '''Session 9''': Pending | + | === <font color=blue>Day 5</font> === |
+ | {| {{tablabonita}} | ||
+ | | | ||
+ | * '''Session 9: Pending Experiments''' | ||
+ | :Pending tasks, resolve questions, complete the unfinished experiments | ||
− | * '''Session 10 | + | * '''Session 10: Conclusions and future work''' |
+ | |} | ||
== Sessions == | == Sessions == | ||
− | === Session 1: Introduction === | + | === Session 1: <font color=blue>Introduction</font> === |
{| {{tablabonita}} | {| {{tablabonita}} | ||
| | | | ||
* About ourselves | * About ourselves | ||
− | * Introduction to modular robotics | + | * Introduction to modular robotics([http://www.iearobotics.com/wiki/images/e/e1/Modular_robots_introduction.pdf PDF]) |
* Overview of the training on modular snake robots | * Overview of the training on modular snake robots | ||
| [[Archivo:Houxiang.jpg|100px|Prof. Dr. Houxiang Zhang]] | | [[Archivo:Houxiang.jpg|100px|Prof. Dr. Houxiang Zhang]] | ||
Línea 87: | Línea 94: | ||
|} | |} | ||
− | === Session 2: Building the MY1 modules === | + | === Session 2: <font color=blue>Building the MY1 modules</font> === |
{| {{tablabonita}} | {| {{tablabonita}} | ||
| | | | ||
Línea 95: | Línea 102: | ||
* [[Unimod A1: Assembling]]. 10 Unimods will be assembled | * [[Unimod A1: Assembling]]. 10 Unimods will be assembled | ||
− | | [[Imagen:Modulo-y1-lote1-3.jpg|130px]] | + | | [[Imagen:Modulo-y1-lote1-3.jpg|130px|A MY1 module]] |
− | | [[Imagen:Unimod-A1-1-r2.jpg|100px]] | + | | [[Imagen:Unimod-A1-1-r2.jpg|100px|A Unimod A1]] |
|} | |} | ||
− | === '''Session 3''': Software installation and programming === | + | === '''Session 3''': <font color=blue>Software installation and programming</font> === |
{| {{tablabonita}} | {| {{tablabonita}} | ||
Línea 107: | Línea 114: | ||
* [[Pydownloader tool|Installing and testing the Pydownloader tool]] | * [[Pydownloader tool|Installing and testing the Pydownloader tool]] | ||
* Introduction to the Skycube board | * Introduction to the Skycube board | ||
− | * | + | * [http://www.iearobotics.com/downloads/modular-robot-training/MR_prog_examples.zip Programming examples for the training] |
| [[Archivo:Screenshot-codeblock-10.05-ubuntu-10.10.png|100px|The Code::Blocks programming environmnet]] | | [[Archivo:Screenshot-codeblock-10.05-ubuntu-10.10.png|100px|The Code::Blocks programming environmnet]] | ||
Línea 114: | Línea 121: | ||
|} | |} | ||
− | === '''Session 4''': Servo controlling === | + | === '''Session 4''': <font color=blue>Servo controlling</font> === |
{| {{tablabonita}} | {| {{tablabonita}} | ||
Línea 123: | Línea 130: | ||
* Programming oscillations | * Programming oscillations | ||
* Experiment 1: "The wave". 10 Modules | * Experiment 1: "The wave". 10 Modules | ||
− | * Experiment 2: "The | + | * Experiment 2: "The big wave". 30 modules |
| [[Imagen:Servo-futaba-3003-2.jpg|150px|Servo futaba 3003]] | | [[Imagen:Servo-futaba-3003-2.jpg|150px|Servo futaba 3003]] | ||
Línea 130: | Línea 137: | ||
|} | |} | ||
+ | === '''Session 5''': <font color=blue>Locomotion in 1D (I)</font> === | ||
{| {{tablabonita}} | {| {{tablabonita}} | ||
− | | [[Imagen: | + | | |
+ | <font color=green>'''Challenge 1!'''</font> ''Towards a 30 modules caterpillar robot'' | ||
+ | * [[Unimod A1: Assembling|Finish 10 Unimods A1]] | ||
+ | * [[Minicube-I: Assembling]]. Building 10 Minicube-I robots | ||
+ | * Locomotion of the PP minimal configuration | ||
+ | * Experiments on the locomotion of Minicube-I | ||
+ | * [[Cube3: Assembling|Building the Cube3 configuration]] | ||
+ | * Experiments on the locomotion of Cube3 | ||
+ | |||
+ | | [[Imagen:Minicube-I-fin-r2.jpg|200px|The Minicube-I robot]] | ||
+ | | [[Imagen:Cube3-MY1-1-r1.jpg|190px|The Cube3 robot]] | ||
|} | |} | ||
− | === '''Session | + | === '''Session 6''': <font color=blue>Locomotion in 1D (II)</font> === |
+ | |||
{| {{tablabonita}} | {| {{tablabonita}} | ||
| | | | ||
− | * | + | <font color=green>'''Challenge 1!'''</font> ''Towards a 30 modules caterpillar robot'' |
− | * | + | * Building the Cube6 configuration |
− | * | + | * Locomotion experiments |
+ | * Building the Cube12 configuration | ||
+ | * Locomotion experiments | ||
+ | * Building the '''Cube30''' configuration! | ||
+ | * Locomotion experiments | ||
+ | * Locomotion principles | ||
+ | * Introduction to the serpenoid curve | ||
− | | | + | | [[Imagen:2010-robotica-uc3m-robots-modulares-exp5-Cube12-I-1.jpg|200px|Cube12 caterpillar robot]] |
− | [[Imagen: | + | | [[Archivo:Cube18-Juan-Avinash.jpg|220px|Cube18 caterpillar robot]] |
|} | |} | ||
− | * [[ | + | === '''Session 7''': <font color=blue>Locomotion in 2D (I)</font> === |
+ | |||
+ | {| {{tablabonita}} | ||
+ | | | ||
+ | <font color=green>'''Challenge 2!'''</font> ''Towards a 30 modules snake robot'' | ||
+ | * [[Unimod B1: Assembling|Building 10 Unimods B1]] | ||
+ | * [[Unimod 2D-B1: Assembling|Building 10 Unidmods 2D-B1]] | ||
+ | * [[Minicube-II A1: Assembly|Building 5 Minicube-II type A1]] | ||
+ | * [[Minicube-II B1: Assembly|Building 5 Minicube-II type B1]] | ||
+ | * Locomotion gaits | ||
+ | * Locomotions experiments | ||
+ | * Building a 6 modules pith-yaw configuration | ||
* Locomotion experiments | * Locomotion experiments | ||
− | + | | [[Imagen:Unimod-B1-r1.jpg|80px|Unimod type B1]] | |
− | | [[Imagen: | + | | [[Imagen:Unimod-2D-B1-1-r2.jpg|150px|Unimod 2D type B1]] |
+ | | [[Imagen:Minicube-IIA-1-r1.jpg|180px|Minicube-II type A1]] | ||
|} | |} | ||
− | === '''Session | + | === '''Session 8''': <font color=blue>Locomotion in 2D (II)</font> === |
− | {| {{tablabonita}} | + | {| {{tablabonita}} |
− | | [[ | + | | |
+ | <font color=green>'''Challenge 2!'''</font> ''Towards a 30 modules snake robot'' | ||
+ | * Building 3 snake9 | ||
+ | * Locomotion experiments | ||
+ | * Building 1 snake18 | ||
+ | * Experiments | ||
+ | * Building the snake30! | ||
+ | * Locomotion experiments | ||
+ | |||
+ | | [[Archivo:Hypercube-snake8.jpg|210px|Snake robot]] | ||
+ | | [[Archivo:Training-mod-robot-snake7.jpg|140px|Snake robot]] | ||
|} | |} | ||
− | === '''Session | + | === '''Session 9''': <font color=blue>Pending experiments</font> === |
− | {| {{tablabonita}} | + | {| {{tablabonita}} |
− | | | + | | |
+ | * Pending tasks | ||
+ | * Solve questions | ||
+ | * Complete the unfinished experiments | ||
|} | |} | ||
− | === '''Session | + | === '''Session 10''': <font color=blue>Conclusions and future work</font> === |
{| {{tablabonita}} | {| {{tablabonita}} | ||
− | | | + | | |
− | + | * Simulations | |
− | + | * Communications between the modules | |
− | + | * Sensors | |
− | + | * Neural networks | |
− | + | * Modular snake robot applications | |
− | + | * 2D topology configurations | |
− | + | | [[Archivo:TMR-GZ-II.jpg|150px|1D and 2D topology modular robots]] | |
− | + | | [[Archivo:TMR-grasping-4.jpg|250px|Modular grasping simulation]] | |
− | | [[ | ||
|} | |} | ||
Línea 180: | Línea 229: | ||
* SVN repository: [http://svn.iearobotics.com/MR_workshop http://svn.iearobotics.com/MR_workshop] | * SVN repository: [http://svn.iearobotics.com/MR_workshop http://svn.iearobotics.com/MR_workshop] | ||
− | The latest version can obtained typing: | + | The latest version can be obtained typing: |
svn co http://svn.iearobotics.com/MR_workshop/trunk | svn co http://svn.iearobotics.com/MR_workshop/trunk | ||
== Authors == | == Authors == | ||
− | * [ | + | * [https://sites.google.com/site/houxiangzhang/home Prof. Dr. Houxiang Zhang]. Department of Technology and nautical science. Aalesund University Colleage. Norway |
− | * [[Juan Gonzalez:Main|Dr. Juan Gonzalez-Gomez]]. Robotics Lab. Universidad Carlos III de Madrid. Spain | + | * [[Juan Gonzalez:Main|Dr. Juan Gonzalez-Gomez]]. Robotics Lab. Department of system engineering and Automation. Universidad Carlos III de Madrid. Spain |
− | * [[Andrés Prieto-Moreno|Andres Prieto-Moreno]]. Universidad Autonoma de Madrid. Spain | + | * [[Andrés Prieto-Moreno|Andres Prieto-Moreno]]. Department of computer science. Universidad Autonoma de Madrid. Spain |
== License == | == License == | ||
Línea 193: | Línea 242: | ||
|} | |} | ||
− | == | + | == Links == |
+ | * [[Skycube|Skycube board]] | ||
+ | * [[Módulos MY|MY1 modules]] | ||
+ | * [[Unimod|Unimod configuration]] | ||
+ | |||
+ | == Bibliography == | ||
* Juan Gonzalez-Gomez, "'''''Modular Robotics and Locomotion: Application to Limbless robots'''''". PhD dissertation. Universidad Autonoma de Madrid. Nov/2008. ([[Juan Gonzalez:PhD Thesis|More information]]) | * Juan Gonzalez-Gomez, "'''''Modular Robotics and Locomotion: Application to Limbless robots'''''". PhD dissertation. Universidad Autonoma de Madrid. Nov/2008. ([[Juan Gonzalez:PhD Thesis|More information]]) | ||
Revisión actual del 08:34 5 mar 2011
Contenido
- 1 Introduction
- 2 Programme
- 3 Sessions
- 3.1 Session 1: Introduction
- 3.2 Session 2: Building the MY1 modules
- 3.3 Session 3: Software installation and programming
- 3.4 Session 4: Servo controlling
- 3.5 Session 5: Locomotion in 1D (I)
- 3.6 Session 6: Locomotion in 1D (II)
- 3.7 Session 7: Locomotion in 2D (I)
- 3.8 Session 8: Locomotion in 2D (II)
- 3.9 Session 9: Pending experiments
- 3.10 Session 10: Conclusions and future work
- 4 Repository
- 5 Authors
- 6 License
- 7 Links
- 8 Bibliography
- 9 News
Introduction
The last few years have witnessed an increasing interest in modular reconfigurable robotics. The applications include industrial inspection, urban search and rescue, space applications and military reconnaissance. They are also very interesting for research purposes. Modular robots are composed of some identical or similar units which can attach and detach each other and are capable of changing the configurations.
Some modular prototypes are quite famous, such as Polybot from Mark Yim, CONRO and SuperBot from Information Sciences Institute and Computer Science, M-TRAN robot from Kamimura. Some common ideas of these prototypes lie in two points. Normally this kind of robots consists of many modules which are able to change the way they are connected. In further the modular approach enables robots the reconfiguration capability which is very essential in such tasks which are difficult for a fixed-shape robot. It also enables the mobile robotic system the characteristics of versatility, robustness, low-cost and fast-prototyping so that new configurations of different robots can be built fast and easily, for the exploration, testing and analysis of new ideas. More exciting advantage is that the robots have the capability of adopting different locomotion to match various tasks and suit complex environments.
Robotics has emerged as a useful tool in education because robots provide ideas of science and technology. It connects the student with the science and technology easily. In this training program, we would like to use modular robots for educational purposes. the participators will work with educational robots and modular robots to learn the following aspects:
- Building modular mobile robots and simple kinematic chains
- Programming of elementary robot skills and behaviours
- Locomotion control based on bio-inspired methods
- Testing for cooperating tasks
We also hope that the participators could apply theory and model learned in the robotics related course to real robot systems so to gain experiences in working with physical sensors, actuators and robot programming.
All information here will be improved according to our new working experimence regularly.
Programme
Day 1
|
Day 2
|
Day 3
|
Day 4
|
Day 5
|
Sessions
Session 1: Introduction
|
Session 2: Building the MY1 modules
|
Session 3: Software installation and programming
Session 4: Servo controlling
Session 5: Locomotion in 1D (I)
Challenge 1! Towards a 30 modules caterpillar robot
|
Session 6: Locomotion in 1D (II)
Session 7: Locomotion in 2D (I)
Challenge 2! Towards a 30 modules snake robot
|
Session 8: Locomotion in 2D (II)
Challenge 2! Towards a 30 modules snake robot
|
Session 9: Pending experiments
|
Session 10: Conclusions and future work
|
Repository
- SVN repository: http://svn.iearobotics.com/MR_workshop
The latest version can be obtained typing:
svn co http://svn.iearobotics.com/MR_workshop/trunk
Authors
- Prof. Dr. Houxiang Zhang. Department of Technology and nautical science. Aalesund University Colleage. Norway
- Dr. Juan Gonzalez-Gomez. Robotics Lab. Department of system engineering and Automation. Universidad Carlos III de Madrid. Spain
- Andres Prieto-Moreno. Department of computer science. Universidad Autonoma de Madrid. Spain
License
This work is licensed under a Creative Commons Attribution-ShareAlike License. |
Links
Bibliography
- Juan Gonzalez-Gomez, "Modular Robotics and Locomotion: Application to Limbless robots". PhD dissertation. Universidad Autonoma de Madrid. Nov/2008. (More information)
- Juan Gonzalez-Gomez, Houxiang Zhang and Eduardo Boemo, "Locomotion Principles of 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots". Chapter 24 of the Book: Bioinspiration and Robotics: Walking and Climbing Robots, pp. 403-428. Published by Advanced Robotics Systems International and I-Tech Education and Publishing. Vienna, Austria. September 2007. (More Information)
- Juan Gonzalez-Gomez, Houxiang Zhang, Eduardo Boemo and Jianwei Zhang, "Locomotion Capabilities of a Modular Robot with Eight Pitch-Yaw-Connecting Modules",Proc. of the 9th International Conference on Climbing and Walking Robots. Clawar06, pp. 150-157. Brussels, September 2006. (More Information)
- Juan Gonzalez-Gomez and E. Boemo, "Motion of Minimal Configurations of a Modular Robot: Sinusoidal, Lateral Rolling and Lateral Shift", Proc. of the 8th International Conference on Climbing and Walking Robots. CLAWAR, pp. 667-674. London, September 2005. (More Information)
- Houxiang Zhang, Juan Gonzalez-Gomez, Zhizhu Xie, Sheng Cheng, Jianwei Zhang. " Development of a Low-cost Flexible Modular Robot GZ-I". Proceeding of 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronlics, pp. 223-228, Xi'an, China, 4 - 7 June. (PDF)
- Houxiang Zhang, Juan Gonzalez-Gomez, S.Y. Chen, Jianwei Zhang. "Embedded Intelligent Capability of a Modular Robotic System".Proceeding of IEEE Robio2008, Bangkok, Thailand, Dec. 2008. (PDF)
- Houxiang Zhang, Juan González-Gómez, Jianwei Zhang. "A New Application of Modular Robots on Analysis of Caterpillar-like Locomotion". Proceedings of the 2009 IEEE International Conference on Mechatronics, Malaga, Spain, 14-17 April. (More Information)
- G. Salvietti, H.X. Zhang, J. Gonzalez-Gomez, D. Prattichizzo, and J.W. Zhang. "Task Priority Grasping and Locomotion Control of Modular Robot". In Proc. IEEE Int. Conf. on Robotics and Biomimetics, Guilin, China, December 2009. (PDF)
- Juan Gonzalez-Gomez, Javier Gonzalez-quijano, Houxiang Zhang, Mohamed Abderrahim, "Toward the sense of touch in snake modular robots for search and rescue operations". In Proc of the ICRA 2010 workshop on modular robots: State of the art. pp. 63-68, May-3rd, Anchorage, Alaska. (PDF)
- Houxiang Zhang, Wei Wang, Juan Gonzalez-Gomez, Jianwei Zhang. "Design and Realization of a Novel Modular Climbing Caterpillar Using Low-frequency Vibrating Passive Suckers". Advanced Robotics. Volume 23, Numbers 7-8, 2009 , pp. 889-906.
- Houxiang Zhang, Wei Wang, Juan Gonzalez-Gomez and Jianwei Zhang (2010), "A bio-inspired small-sized wall-climbing caterpillar robot", Book chapter (1), Mechatronic Systems Applications, Annalisa Milella Donato Di Paola and Grazia Cicirelli (Ed.), ISBN: 978-953-307-040-7, InTech (PDF)
News
- Feb/19th/2011: This page is started