Diferencia entre revisiones de «2013-07-02:Let's build a modular snake robot»
De WikiRobotics
(→Related publications) |
(→Related publications) |
||
Línea 106: | Línea 106: | ||
|------- | |------- | ||
| 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.), pp. 1-16, ISBN: 978-953-307-040-7, InTech | | 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.), pp. 1-16, ISBN: 978-953-307-040-7, InTech | ||
+ | |||
([http://www.iearobotics.com/downloads/papers/Bio-inspired-small-sized-wall-climbing-caterpillar-robot.pdf PDF]) ([http://www.intechopen.com/articles/show/title/a-bio-inspired-small-sized-wall-climbing-caterpillar-robot On line]) | ([http://www.iearobotics.com/downloads/papers/Bio-inspired-small-sized-wall-climbing-caterpillar-robot.pdf PDF]) ([http://www.intechopen.com/articles/show/title/a-bio-inspired-small-sized-wall-climbing-caterpillar-robot On line]) | ||
|------- | |------- | ||
− | | 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 ([http://www.iearobotics.com/downloads/2010-05-03-ICRA-Workshop/Paper-ICRA-workshop-2010-snake-USAR.pdf PDF]) ([http://www.scribd.com/doc/31527410/Paper-Toward-the-sense-of-touch-in-snake-modular-robots-for-search-and-rescue-operations On line in Scribd]) ([[Paper:ICRA-2010-Workshop-on-modular-robots|More information]] ) | + | | 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 |
+ | ([http://www.iearobotics.com/downloads/2010-05-03-ICRA-Workshop/Paper-ICRA-workshop-2010-snake-USAR.pdf PDF]) ([http://www.scribd.com/doc/31527410/Paper-Toward-the-sense-of-touch-in-snake-modular-robots-for-search-and-rescue-operations On line in Scribd]) ([[Paper:ICRA-2010-Workshop-on-modular-robots|More information]] ) | ||
|----------- | |----------- | ||
− | | Juan Gonzalez-Gomez, "'''Modular Robotics and Locomotion: Application to Limbless robots'''". PhD Thesis. Universidad Autónoma de Madrid. November-2008 (Translated into English) ([http://www.iearobotics.com/downloads/2008-11-08-Tesis-Juan/Thesis_PhD_Juan_Gonzalez_Gomez-2008.pdf PDF]) ([http://www.scribd.com/doc/19362767/Modular-Robotics-and-Locomotion-Application-to-Limbless-robots On line in Scribd]) ([[Juan Gonzalez:Tesis|More information]]) | + | | Juan Gonzalez-Gomez, "'''Modular Robotics and Locomotion: Application to Limbless robots'''". PhD Thesis. Universidad Autónoma de Madrid. November-2008 (Translated into English) |
+ | |||
+ | ([http://www.iearobotics.com/downloads/2008-11-08-Tesis-Juan/Thesis_PhD_Juan_Gonzalez_Gomez-2008.pdf PDF]) ([http://www.scribd.com/doc/19362767/Modular-Robotics-and-Locomotion-Application-to-Limbless-robots On line in Scribd]) ([[Juan Gonzalez:Tesis|More information]]) | ||
|} | |} | ||
Revisión del 09:54 20 oct 2013
Contenido
Information
- Tittle: Let's build a modular snake robot
- Event: Microbotics summer Workshop. From 2nd to 6th of July 2013
- Place: ETSIT. Universidad de Malaga
- Speaker: Juan González Gomez
- Students: 20
- Hours: 6 (session 1)
- Date: 02/Julio/2013
Abstract
This is the session 1 of the 2013 Microbotics Summer Workshop organized by the Electronic Technology department at University of Malaga. In this session, a printable modular snake robot, consisting of 9 modules is assembled and the main locomotion principles are presented.
BILL of Materials
- 10 Repyz pro modules, already assembled
- 3 Skymega boards, Arduino compatibles. These boards are used only during the session 1 for showing the different locomotion gais. In the following session the students had to program the EZ430-RF2500 boards, connected to some extension boards that include connectors for the servos and the sensors.
- 3 battery holders (for 4 AAA batteries) already assembled
- 3 pairs of mounting brackets for attaching the battery holders to the modules
- 60 M3x10 mm bolts
- 60 M3 nuts
Download
Slides
2013-07-01-Modular-snake-robots-Malaga.odp | Slides (Sources, for Libre-office 4.0) |
2013-07-01-Modular-snake-robots-Malaga.pdf | Slides in PDF |
Software
Before using this software, make sure you have installed the Ardusnake Library
Unimod_test1.ino | Example 1: different oscillations of 1 module. The oscillation changes when the test button is pressed |
Unimod_test2.ino | Example 2: Oscillation of 2 modules. The phase difference is changed when the test button is pressed |
wave.ino | Example 3: The wave. 9 independent modules are oscillation so that a wave is generated |
pp_test.ino | Example 4: Locomotion of the pitch-pitch minimal configuration. When the test button is pressed, the gait is changed |
pyp_gaits.ino | Example 5: Locomotion of the pitch-yaw-pitch minimal configuration. When the test button is pressed, the gait is changed |
py6.ino | Example 6: Locomotion of a 6 module pitch-yaw snake |
Git repository
Video
300|250</youtube> |
Courtesy of Malakabot. Many thanks!
Pictures
Flickr Album |
---|
Related publications
Avinash Ranganath, Juan Gonzalez-Gomez, Luis Moreno Lorente (2011), "A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations", Book chapter (VII), ISBN: 978-84-7484-238-8. Centro de automática y Robótica CSIC-UPM, pp. 129-144.
(PDF) (On-line) (More information) |
Juan González-Gómez, Javier González-Quijano, Houxiang Zhang, Mohamed Abderrahim (2010),"Desarrollo de Robots modulares de tipo serpiente para búsqueda y rescate en entornos urbanos", Capítulo de Libro (20), ISBN: 978-84-614-5558-4. Centro de Automática y Robótica CSIC-UPM, pp. 335-353 |
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.), pp. 1-16, ISBN: 978-953-307-040-7, InTech |
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) (On line in Scribd) (More information ) |
Juan Gonzalez-Gomez, "Modular Robotics and Locomotion: Application to Limbless robots". PhD Thesis. Universidad Autónoma de Madrid. November-2008 (Translated into English) |
More information
Modules
- Repyz: (Wiki) (thingiverse) (Github)
- Repy 2.0: (wiki) (thingiverse) (github)
- Repy 1.1: (Wiki) (thingiverse)
Other
Sobre Robots modulares
- Tesis de Obijuan sobre robots modulares: documentación, ejemplos, enlaces a todos los robots construidos, vídeos, etc...
- Módulos_Y1: Módulos para la construcción de robots modulares. Versión corte láser/manual
- Módulos_MY: Versión en aluminio de los módulos Y1
- ArduSnake:_Arduino_Modular_Snake_Robots_Library: Biblioteca para Arduino para mover robots modulares
Sobre impresoras 3D
- RepRap: Impresoras 3D auto-replicantes
- Thingiverse: El youtube de los objetos
- Objetos 3D: Objetos imprimibles
- Proyecto Clone wars: Construye tu propia impresora 3D
- Clon R2D2: El primer clon de Clone-wars
Sobre herramientas libres de diseño
- OpenScad: Herramienta libre para diseño de piezas
- Kicad: Herramienta libre para diseño de circuitos
- Freecad: Herramienta libre de CAD
- OOML: Object Oriented Mechanics. Mecánica orientada a Objetos
Crédits
License
This work is licensed under a Creative Commons Attribution-ShareAlike 2.5 Spain License. |
Acknowledgment
News
- 08/Sep/2013: This page is started
|
Proyecto Clone wars: Construye tu impresora 3D opensource! |
|
Proyecto RepRap: Impresoras 3D auto-replicantes. El origen de la revolución de las impresoras 3D opensource |
|
Obijuan Academy, Tu academia rebelde! ;-) |