Diferencia entre revisiones de «2009-06-16:Bremen:Live modular robots»

Revisión del 01:30 17 jun 2009

• Title: "Live Modular Robots"
• Speakers: Juan González and Houxiang Zhang
• Duration: 25 minutes
• Place: Robotics Innovation Center. DFKI Bremen
• Date: Jun, 16th 2009
• More information: DFKI Bremen's talk archive

Abstract

In this informal talk some of the modular robots we have developed in cooperation with the TAMS group from the University of Hamburg are shown and live demonstrations will be performed. Our research is focused on the locomotion capabilities of the 1D topology modular robots, like caterpillar, snakes and so on.

The control algorithms are bio-inspired. They are based on simplified Central Pattern Generators (CPGs) working as sinusoidal generators. For some values of generator parameters, the robots move using different locomotion gaits, such as rolling, side-winding, and rotating.

Another problem is the locomotion of the minimal configuration: finding those 1D topology modular robots with the minimum number of modules that are capable of moving in 1D and 2D. The two pitch-pitch and pitch-yaw-pitch minimal configuration will be discussed.

Finally, the new Cube-M modules will be presented, which will let us research on new topologies of modular robots.

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License

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Videos

Some of the videos shown during the talk:

• Cube Revolutions Robot locomotion using sinusoidal oscillators
• Cube Revolution Robot: Caterpillar locomotion
• Cube Revolutions: Moving like a wheel
• Cube Revolutions: Testing the stability of the Linux Systems ;-)
• Hypercube Robot: Testing its locomotion capabilities
• Hypercube Robot: a funny test ;-)
• Minicube-I Robot: PP minimal configuration
• Minicube-II Robot: PYP minimal configuration
• Cube-M: 3-modules Caterpillar locomotion
• Cube-M: Testing in the Field

Papers

• Juan Gonzalez-Gomez. Modular robotics and locomotion: Application to limbless robots. Ph.D. Dissertation. Universidad Autónoma de Madrid. November-2008. (More information)

• 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. (PDF) (More information)

• J. González-Gómez, I. González , FJ. Gómez-Arribas and E. Boemo,Evaluation of a locomotion algorithm for worm-like robots on FPGA-embedded processors. In Lecture Notes in computer Science, vol.3985, pp. 24-29. (PDF) (More information)

• "Locomotion of a Modular Robot with Eight Pitch-Yaw-Connecting Modules". Sobre el robot Hypercube, 2006

• "Motion of Minimal Configurations of a Modular Robot: Sinusoidal, Lateral Rolling and Lateral Shift". Sobre las configuraciones mínimas, 2005

• "Locomotion of a Modular Worm-like Robot using a FPGA-based embedded MicroBlaze Soft-processor", sobre Cube Revolutions, 2004

Enlaces

• Robot Cube Revolutions
• Robot Hypercube
• Robot MiniCube (configuraciones mínimas)
• Tarjeta Skypic
• Índice de Charlas y conferencias

Agradecimientos

• A Jose María Cañas por invitarme a dar esta charla. Muchísimas gracias ;-)

Noticias

• 07/Mayo/2009: Comenzada esta página