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== BILL of Materials == | == BILL of Materials == | ||
− | * 10 [ | + | * 10 [https://github.com/Obijuan/REPYZ 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 [http://processors.wiki.ti.com/index.php/EZ430-RF2500 EZ430-RF2500] boards, connected to some extension boards that include connectors for the servos and the sensors. | + | * 3 [http://www.thingiverse.com/thing:14197 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 [http://processors.wiki.ti.com/index.php/EZ430-RF2500 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 [http://www.thingiverse.com/thing:5079 battery holders] (for 4 AAA batteries) already assembled |
− | * 3 pairs of mounting | + | * 3 pairs of [https://github.com/Obijuan/3D-parts/tree/master/repyz-battery-holder-brackets mounting brackets] for attaching the battery holders to the modules |
* 60 M3x10 mm bolts | * 60 M3x10 mm bolts | ||
* 60 M3 nuts | * 60 M3 nuts | ||
Línea 33: | Línea 33: | ||
|------- | |------- | ||
| [http://www.iearobotics.com/downloads/2013-07-02-modular-robot-malaga/2013-07-01-Modular-snake-robots-Malaga.pdf 2013-07-01-Modular-snake-robots-Malaga.pdf] | | [http://www.iearobotics.com/downloads/2013-07-02-modular-robot-malaga/2013-07-01-Modular-snake-robots-Malaga.pdf 2013-07-01-Modular-snake-robots-Malaga.pdf] | ||
− | || | + | || Slides in PDF |
|------ | |------ | ||
+ | | [http://www.slideshare.net/obijuan_cube/lets-build-modular-robots on-line] | ||
+ | || Read on-line in Slideshare | ||
|} | |} | ||
=== Software === | === Software === | ||
+ | |||
+ | Before using this software, make sure you have installed the [[ArduSnake:_Arduino_Modular_Snake_Robots_Library|Ardusnake Library]] | ||
{| {{tablabonita}} | {| {{tablabonita}} | ||
− | | [ | + | | [https://github.com/Obijuan/ArduSnake/blob/master/Workshops/2013-07-02-microbotics-summer-Malaga/examples/Unimod_test1/Unimod_test1.ino Unimod_test1.ino] |
− | || | + | || Example 1: different oscillations of 1 module. The oscillation changes when the test button is pressed |
|------- | |------- | ||
− | | [] | + | | [https://github.com/Obijuan/ArduSnake/blob/master/Workshops/2013-07-02-microbotics-summer-Malaga/examples/Unimod_test2/Unimod_test2.ino Unimod_test2.ino] |
− | || | + | || Example 2: Oscillation of 2 modules. The phase difference is changed when the test button is pressed |
+ | |------ | ||
+ | | [https://github.com/Obijuan/ArduSnake/tree/master/Workshops/2013-07-02-microbotics-summer-Malaga/examples/wave wave.ino] | ||
+ | || Example 3: The wave. 9 independent modules are oscillation so that a wave is generated | ||
+ | |------ | ||
+ | | [https://github.com/Obijuan/ArduSnake/blob/master/Workshops/2013-07-02-microbotics-summer-Malaga/examples/pp_test/pp_test.ino pp_test.ino] | ||
+ | || Example 4: Locomotion of the pitch-pitch minimal configuration. When the test button is pressed, the gait is changed | ||
+ | |------ | ||
+ | | [https://github.com/Obijuan/ArduSnake/blob/master/Workshops/2013-07-02-microbotics-summer-Malaga/examples/pyp_gaits/pyp_gaits.ino pyp_gaits.ino] | ||
+ | || Example 5: Locomotion of the pitch-yaw-pitch minimal configuration. When the test button is pressed, the gait is changed | ||
+ | |------ | ||
+ | | [https://github.com/Obijuan/ArduSnake/blob/master/Workshops/2013-07-02-microbotics-summer-Malaga/examples/py6/py6.ino py6.ino] | ||
+ | || Example 6: Locomotion of a 6 module pitch-yaw snake | ||
|------ | |------ | ||
|} | |} | ||
+ | |||
+ | == Git repository == | ||
+ | |||
+ | * https://github.com/Obijuan/ArduSnake/tree/master/Workshops/2013-07-02-microbotics-summer-Malaga | ||
== Video == | == Video == | ||
Línea 53: | Línea 73: | ||
|} | |} | ||
− | Courtesy of Malakabot. Many thanks! | + | Courtesy of [http://www.malakabot.com/index.php?option=com_content&view=article&id=158:summer-workshop-2013-fotos&catid=70:cat-uma-workshop-2013&Itemid=133 Malakabot]. Many thanks! |
== Pictures == | == Pictures == | ||
Línea 62: | Línea 82: | ||
{| class="wikitable" | {| class="wikitable" | ||
− | | [[Archivo:Repyz-snake-1.jpg|200px|thumb| (''Click | + | | [[Archivo:Repyz-snake-1.jpg|200px|thumb| (''Click to enlarge'')]] |
− | | [[Archivo:Malaga-2013-summer-workshop-2.jpg|300px|thumb| (''Click | + | | [[Archivo:Malaga-2013-summer-workshop-2.jpg|300px|thumb| (''Click to enlarge'')]] |
|-------- | |-------- | ||
− | |[[Archivo:Malaga-2013-summer-workshop-3.jpg|300px|thumb| (''Click | + | |[[Archivo:Malaga-2013-summer-workshop-3.jpg|300px|thumb| (''Click to enlarge'')]] |
− | | [[Archivo:Malaga-2013-summer-workshop-4.jpg|300px|thumb| (''Click | + | | [[Archivo:Malaga-2013-summer-workshop-4.jpg|300px|thumb| (''Click to enlarge'')]] |
|-------- | |-------- | ||
− | |[[Archivo:Malaga-2013-summer-workshop-5.jpg|300px|thumb| (''Click | + | |[[Archivo:Malaga-2013-summer-workshop-5.jpg|300px|thumb| (''Click to enlarge'')]] |
− | | [[Archivo:Malaga-2013-summer-workshop-2013-6.jpg|300px|thumb| (''Click | + | | [[Archivo:Malaga-2013-summer-workshop-2013-6.jpg|300px|thumb| From left to right: Juan Robles de Toro, José María Torralba, Federico Coca Caba, Obijuan, Juan Carlos Joya Clarés and Enrique Norro Gañan (''Click to enlarge'')]] |
|-------- | |-------- | ||
− | |[[Archivo:Malaga-2013-summer-workshop-7.jpg|300px|thumb| | + | |[[Archivo:Malaga-2013-summer-workshop-7.jpg|300px|thumb| Notes taken by Cristina Urdiales during the talk. Amazing drawings!!! Thanks Cristina!! :-) (''Click to enlarge'')]] |
| | | | ||
|-------- | |-------- | ||
|} | |} | ||
− | == | + | == Related publications == |
+ | |||
{| class="wikitable" | {| class="wikitable" | ||
− | | | + | |------- |
+ | | 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. | ||
+ | ([http://www.iearobotics.com/downloads/2011-05-30-robocity/Avinash-et-at-MR-ANN-Robocity-May2011.pdf PDF]) ([http://www.scribd.com/doc/57370406/A-DISTRIBUTED-NEURAL-CONTROLLER-FOR-LOCOMOTION-IN-LINEAR-MODULAR-ROBOTIC-CONFIGURATIONS On-line]) | ||
+ | ([[Paper:2011-Robocity-Modular-robot-neural-controller|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 | ||
+ | ([http://www.iearobotics.com/downloads/2010-12-02-RoboCity-exteriores/Cap-20-robots-modulares-busqueda-rescate-robocity-2030.pdf PDF]) ([http://www.scribd.com/doc/44591049/DESARROLLO-DE-ROBOTS-MODULARES-DE-TIPO-SERPIENTE-PARA-BUSQUEDA-Y-RESCATE-EN-ENTORNOS-URBANOS online]) [[Paper:2010-RoboCity-8-workshop-robots-exteriores|More information]] | ||
+ | |------- | ||
+ | | 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]) |
− | | | + | |------- |
+ | | 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]]) | ||
+ | |------- | ||
+ | | 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 | ||
+ | ([http://www.iearobotics.com/downloads/papers/Robio2009-task-priority.pdf 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, 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. ''I.S.B.N 978-1-4244-4195-2'' | ||
+ | ([http://www.iearobotics.com/downloads/papers/ICM2009-caterpillar.pdf PDF]) ([http://www.scribd.com/doc/17673227/A-New-Application-of-Modular-Robots-on-Analysis-of-Caterpillarlike-Locomotion On-line in Scribd]) ([[Paper:ICM09-caterpillar| More Information]]) | ||
+ | |------ | ||
+ | | 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 | ||
+ | ([http://www.iearobotics.com/downloads/papers/Robio2008-modular-robot.pdf PDF]) ([http://www.scribd.com/doc/17655808/Embedded-Intelligent-Capability-of-a-Modular-Robotic-System On-line in scribd]) | ||
+ | |--------- | ||
+ | | Juan Gonzalez-Gomez, "'''Robótica Modular y Locomoción: Aplicación a Robots Ápodos'''". Tesis doctoral. Universidad Autónoma de Madrid. Noviembre-2008 | ||
+ | ([http://www.iearobotics.com/downloads/2008-11-08-Tesis-Juan/Tesis-Juan-Gonzalez-Gomez.pdf PDF]) ([http://www.scribd.com/doc/14753410/Robotica-modular-y-locomocion-aplicacion-a-robots-apodos En línea en Scribd]) ([[Juan Gonzalez:Tesis|Más información]]) | ||
+ | |-------- | ||
+ | | 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. ''I.S.B.N. 978-1-4244-2495-5'' | ||
+ | ([http://www.iearobotics.com/downloads/papers/AIM_2008-GZ-I.pdf PDF]) ([http://www.scribd.com/doc/17645063/Development-of-a-Lowcost-Flexible-Modular-Robot-GZI On line in scribd]) | ||
+ | |------- | ||
+ | | J. 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. ''I.S.B.N 978-3-902613-15-8''. | ||
+ | ([http://www.iearobotics.com/personal/juan/publicaciones/art16/download/cwr-chap24-Gonzalez_et_al.pdf PDF]) ([http://www.scribd.com/doc/17613884/Locomotion-Principles-of-1D-Topology-Pitch-and-PitchYawConnecting-Modular-Robots On-line in scribd]) ([http://www.iearobotics.com/personal/juan/publicaciones/art16/index.html More Information]) | ||
+ | |-------- | ||
+ | | H. X. Zhang, J. Gonzalez-Gomez, S.Y. Chen, W. Wang, R. Lin, D. Li, J.W. Zhang. '''A Novel Modular Climbing Caterpillar Using Low-Frequency Vibrating Passive Suckers'''. IEEE/ASME International Conference on Advanced Intelligent Mechatronics. AIM2007. ETH Zurich, September 4-7, 2007, Switzerland. ''I.S.B.N. 978-1-4244-1264-1'' | ||
+ | ([http://www.iearobotics.com/personal/juan/publicaciones/art15/download/AIM07.pdf PDF]) ([http://www.scribd.com/doc/17613615/A-Novel-Modular-Climbing-Caterpillar-Using-Lowfrequency-Vibrating-Passive-Suckers On-line in scribd]) ([http://www.iearobotics.com/personal/juan/publicaciones/art15/index.html More Information]) | ||
+ | |-------- | ||
+ | | J. 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 | ||
+ | ([http://www.iearobotics.com/personal/juan/publicaciones/art14/download/hypercube-clawar06.pdf PDF]) ([http://www.scribd.com/doc/17608275/Locomotion-Capabilities-of-a-Modular-Robot-with-Eight-PitchYawConnecting-Modules On-line in scribd]) ([http://www.iearobotics.com/personal/juan/publicaciones/art14/index.html More Information]) | ||
+ | |--------------- | ||
+ | | Gonzalez-Gomez, J. ,Gonzalez, I. ,Gomez-Arribas F.J. and Boemo, E. '''Evaluation of a locomotion algorithm for worm-like robots on FPGA-embedded processors''', In Lecture Notes in computer Science, vol.3985, pp. 24-29. ''I.S.S.N: 3-540-36708-X'' | ||
+ | ([http://www.iearobotics.com/personal/juan/publicaciones/art13/download/arc-cube-2006.pdf PDF]) ([http://www.scribd.com/doc/17613446/Evaluation-of-a-locomotion-algorithm-for-wormlike-robots-on-FPGAembedded-processors On-line in scribd]) ([http://www.iearobotics.com/personal/juan/publicaciones/art13/index.html More Information]) | ||
+ | |---------- | ||
+ | | Gonzalez-Gomez, J. and Boemo, E. '''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. ''I.S.B.N'': 3-540-26413-2 | ||
+ | ([http://www.iearobotics.com/personal/juan/publicaciones/art12/download/multicube-clawar.pdf PDF]) ([http://www.scribd.com/doc/16581798/Motion-of-Minimal-Configurations-of-a-Modular-Robot-Sinusoidal-Lateral-Rolling-and-Lateral-Shift on-line in Scribd]) ([http://www.iearobotics.com/personal/juan/publicaciones/art12/index.html More Information]) | ||
+ | |--------- | ||
+ | | J. Gonzalez-Gomez, I. Gonzalez, FJ. Gomez-Arribas y E. Boemo, '''Evaluación de un Algoritmo de Locomoción de Robots Ápodos en Diferentes Procesadores Embebidos en FPGA''', V Jornadas de Computacion Reconfigurable y Aplicaciones. JCRA 2005. Dentro del Primer Congreso Espanol de Informatica, CEDI 2005, pp. 109-116. Granada, Septiembre 2005. ''I.S.B.N'': 84-9732-439-0 ([http://www.iearobotics.com/personal/juan/publicaciones/art11/download/cedi-cube.pdf PDF]) ([http://www.scribd.com/doc/16377145/Evaluacion-de-un-Algoritmo-de-Locomocion-de-Robots-Apodos-en-Diferentes-Procesadores-Embebidos-en-FPGA En línea en Scribd]) ([http://www.iearobotics.com/personal/juan/publicaciones/art11/index.html Más Información]) | ||
+ | |---------- | ||
+ | | Gonzalez-Gomez, J, Aguayo E. and Boemo E.,'''Locomotion of a Modular Worm-like Robot using a FPGA-based embedded MicroBlaze Soft-processor''', Proc. of the 7th International Conference on Climbing and Walking Robots, CLAWAR 2004, pp. 869-878, CSIC, Madrid (spain). September, 2004. ''I.S.B.N'': 3-540-22992-2. ([http://www.iearobotics.com/personal/juan/publicaciones/art8/cube-clawar04.pdf PDF]) ([http://www.scribd.com/doc/15048332/Locomotion-of-a-Modular-Wormlike-Robot-using-a-FPGAbased-embedded-MicroBlaze-Softprocessor On-line in Scribd]) ([http://www.iearobotics.com/personal)/juan/publicaciones/art8/index.html More Information]) | ||
+ | |----------- | ||
+ | | González-Gómez, J, Aguayo E. y Boemo E.,'''Locomoción de un Robot Ápodo Modular con el Procesador MicroBlaze''', IV Jornadas sobre Computación Reconfigurable y Aplicaciones, JCRA04, Escuela Técnica Superior de Ingenierías. Universidad Autónoma de Barcelona, Septiembre 2004, pp. 675-681. ''I.S.B.N'': 846887667-4. ([http://www.iearobotics.com/personal/juan/publicaciones/art7/cube-rev.pdf PDF]) ([http://www.scribd.com/doc/15047587/Locomocion-de-un-Robot-apodo-modular-con-el-procesador-MicroBlaze En línea en Scribd]) ([http://www.iearobotics.com/personal/juan/publicaciones/art7/index.html Más Información]) | ||
− | |||
== More information == | == More information == | ||
− | === | + | === About modules === |
* '''Repyz''': ([[Módulos REPYZ|Wiki]]) ([http://www.thingiverse.com/thing:98864 thingiverse]) ([https://github.com/Obijuan/REPYZ Github]) | * '''Repyz''': ([[Módulos REPYZ|Wiki]]) ([http://www.thingiverse.com/thing:98864 thingiverse]) ([https://github.com/Obijuan/REPYZ Github]) | ||
* '''Repy 2.0''': ([http://www.dsquaredrobotics.com/wiki/doku.php?id=en%3arepy-2.0 wiki]) ([http://www.thingiverse.com/thing:99207 thingiverse]) ([https://github.com/David-Estevez/REPY-2.0 github]) | * '''Repy 2.0''': ([http://www.dsquaredrobotics.com/wiki/doku.php?id=en%3arepy-2.0 wiki]) ([http://www.thingiverse.com/thing:99207 thingiverse]) ([https://github.com/David-Estevez/REPY-2.0 github]) | ||
* '''Repy 1.1''': ([[Módulos_REPY-1|Wiki]]) ([http://www.thingiverse.com/thing:13442 thingiverse]) | * '''Repy 1.1''': ([[Módulos_REPY-1|Wiki]]) ([http://www.thingiverse.com/thing:13442 thingiverse]) | ||
+ | * [[Módulos_MY|MY Modules]]: Aluminium version of the Y1 modules | ||
+ | * [[Módulos_Y1|Y1 modules]]: Initial modules. Lasercut parts. | ||
− | === | + | === Firmware for modular robots === |
− | * [ | + | * [[ArduSnake:_Arduino_Modular_Snake_Robots_Library]] |
− | === | + | === Other workshops on modular robots === |
− | * [[ | + | * [[Training on modular snake robots]]. General information |
− | + | * ''05/March/2011'': '''Training on modular snake robots''' given at National Robotics & Intelligent Systems Center. King Abdulaziz City for Science and Technology (KACST). Riyadh. Saudi Arabia | |
− | + | :([[Training on modular robots: Saudi-arabia March-5th-2011|More information]]) | |
− | + | * ''22/Julio/2010'': '''Jugando con Robots modulares'''. Taller de robots modulares. Campus científico de Verano. Universidad Carlos III de Madrid | |
+ | :([[Campus científico 2010:Taller de robots modulares|Más información]]) | ||
− | === | + | === About 3D printers === |
+ | * [http://reprap.org/ RepRap Project]: Self-replicating printers | ||
+ | * [http://www.reprap.org/wiki/Proyecto_Clone_Wars Clone wars project]: Spanish speaking community about 3D printers | ||
+ | * [http://www.thingiverse.com/ Thingiverse]: The youtube of phisical objetcs | ||
− | * [http:// | + | === About opensource tools for 3D design === |
− | * [http:// | + | * [http://www.openscad.org/ OpenScad] |
− | + | * [http://sourceforge.net/apps/mediawiki/free-cad/index.php?title=Main_Page Freecad] | |
− | * [http:// | + | * [http://iearobotics.com/oomlwiki/doku.php OOML]: Object Oriented Mechanics |
− | |||
− | === | + | === Other === |
− | * [http://www. | + | * [http://www.malakabot.com/index.php?option=com_content&view=article&id=158:summer-workshop-2013-fotos&catid=70:cat-uma-workshop-2013&Itemid=133 Malakabot] |
− | |||
− | |||
− | |||
− | == | + | == Author == |
+ | * [[Juan Gonzalez:Main| Juan González-Gómez]] | ||
== License == | == License == | ||
Línea 126: | Línea 199: | ||
== Acknowledgment == | == Acknowledgment == | ||
− | * | + | * [http://beentheredrawnthat.blogspot.com.es/ Cristina Urdiales]: Thanks you very much for inviting me to Malaga to give this lecture! |
+ | * [http://www.dte.uma.es/index.php?option=com_content&task=view&id=279 Manuel Fernández Carmona]: Thank you very much for all your help and technical support! | ||
+ | * [http://www.granadaimprusa.org/ Granada imprusa team]: '''Juan Robles de Toro''', '''José María Torralba''', '''Federico Coca Caba''' and '''Juan Carlos Joya Clarés'''. Thank you very much for your help, your wonderful present and your donation! :-) | ||
+ | * '''Enrique Norro Gañan''': From Dpto. Electrónica del IES Politécnico Jesús Marín and organizer of [http://www.malakabot.com/index.php?option=com_content&view=article&id=158:summer-workshop-2013-fotos&catid=70:cat-uma-workshop-2013&Itemid=133 Malakabot]. Thank you very much for help, your wonderful board for controlling the robot and all the pictures and videos! | ||
== News == | == News == | ||
+ | * '''20/oct/2013''': First version is ready! | ||
* '''08/Sep/2013''': This page is started | * '''08/Sep/2013''': This page is started | ||
− | + | -------------- | |
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[[Archivo:Clone-Wars-logo.png|border|120px|link=http://www.reprap.org/wiki/Proyecto_Clone_Wars|Proyecto Clone wars]] | [[Archivo:Clone-Wars-logo.png|border|120px|link=http://www.reprap.org/wiki/Proyecto_Clone_Wars|Proyecto Clone wars]] | ||
− | | [http://www.reprap.org/wiki/Proyecto_Clone_Wars Proyecto Clone wars] | + | | [http://www.reprap.org/wiki/Proyecto_Clone_Wars Proyecto Clone wars] |
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<center> [[Archivo:RepRap1.png|border|85px|link=http://reprap.org/ RepRap|Proyecto Reprap]] </center> | <center> [[Archivo:RepRap1.png|border|85px|link=http://reprap.org/ RepRap|Proyecto Reprap]] </center> | ||
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<center>[[Archivo:Logo-obijuan-academy-white-back.png|100px|link=Obijuan Academy|Obijuan Academy]] </center> | <center>[[Archivo:Logo-obijuan-academy-white-back.png|100px|link=Obijuan Academy|Obijuan Academy]] </center> | ||
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+ | [[Categoría:Robots imprimibles]] | ||
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+ | [[Categoría: Robótica]] |
Revisión actual del 11:41 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 |
on-line | Read on-line in Slideshare |
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 |
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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) | |||||||
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) | |||||||
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, 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. I.S.B.N 978-1-4244-4195-2
(PDF) (On-line in Scribd) ( More Information) | |||||||
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) (On-line in scribd) | |||||||
Juan Gonzalez-Gomez, "Robótica Modular y Locomoción: Aplicación a Robots Ápodos". Tesis doctoral. Universidad Autónoma de Madrid. Noviembre-2008 | |||||||
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. I.S.B.N. 978-1-4244-2495-5
(PDF) (On line in scribd) | |||||||
J. 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. I.S.B.N 978-3-902613-15-8. | |||||||
H. X. Zhang, J. Gonzalez-Gomez, S.Y. Chen, W. Wang, R. Lin, D. Li, J.W. Zhang. A Novel Modular Climbing Caterpillar Using Low-Frequency Vibrating Passive Suckers. IEEE/ASME International Conference on Advanced Intelligent Mechatronics. AIM2007. ETH Zurich, September 4-7, 2007, Switzerland. I.S.B.N. 978-1-4244-1264-1 | |||||||
J. 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 | |||||||
Gonzalez-Gomez, J. ,Gonzalez, I. ,Gomez-Arribas F.J. and Boemo, E. Evaluation of a locomotion algorithm for worm-like robots on FPGA-embedded processors, In Lecture Notes in computer Science, vol.3985, pp. 24-29. I.S.S.N: 3-540-36708-X | |||||||
Gonzalez-Gomez, J. and Boemo, E. 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. I.S.B.N: 3-540-26413-2 | |||||||
J. Gonzalez-Gomez, I. Gonzalez, FJ. Gomez-Arribas y E. Boemo, Evaluación de un Algoritmo de Locomoción de Robots Ápodos en Diferentes Procesadores Embebidos en FPGA, V Jornadas de Computacion Reconfigurable y Aplicaciones. JCRA 2005. Dentro del Primer Congreso Espanol de Informatica, CEDI 2005, pp. 109-116. Granada, Septiembre 2005. I.S.B.N: 84-9732-439-0 (PDF) (En línea en Scribd) (Más Información) | |||||||
Gonzalez-Gomez, J, Aguayo E. and Boemo E.,Locomotion of a Modular Worm-like Robot using a FPGA-based embedded MicroBlaze Soft-processor, Proc. of the 7th International Conference on Climbing and Walking Robots, CLAWAR 2004, pp. 869-878, CSIC, Madrid (spain). September, 2004. I.S.B.N: 3-540-22992-2. (PDF) (On-line in Scribd) (More Information) | |||||||
González-Gómez, J, Aguayo E. y Boemo E.,Locomoción de un Robot Ápodo Modular con el Procesador MicroBlaze, IV Jornadas sobre Computación Reconfigurable y Aplicaciones, JCRA04, Escuela Técnica Superior de Ingenierías. Universidad Autónoma de Barcelona, Septiembre 2004, pp. 675-681. I.S.B.N: 846887667-4. (PDF) (En línea en Scribd) (Más Información)
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