Diferencia entre revisiones de «Juan Gonzalez:Tesis»
Línea 41: | Línea 41: | ||
Por último se ha resumido el conocimiento sobre la locomoción de los robots ápodos de los grupos de estudio en '''27 principios fundamentales'''. | Por último se ha resumido el conocimiento sobre la locomoción de los robots ápodos de los grupos de estudio en '''27 principios fundamentales'''. | ||
+ | |||
+ | == Abstract == | ||
+ | This dissertation discusses the '''locomotion of modular robots'''. It is focused specifically on the study | ||
+ | of 1D topology configurations (called snakes or limbless robots). The problem to solve is how to | ||
+ | coordinate the joint’s movement so that modular robots can move both in one and two dimensions. | ||
+ | |||
+ | A big challenge in robotics is the development of a very versatile robot with the full capability of | ||
+ | moving on different terrains. This is especially important in applications where the environment is | ||
+ | unknown in advance, such as the exploration of other planet’s surfaces, navigation in hostile environ- | ||
+ | ments and search and rescue operations. | ||
+ | |||
+ | '''Modular robotics''' offers the promise of increasing the versatility in locomotion by means of building | ||
+ | robots from basic modules. Each configuration has its own locomotive characteristics that should be | ||
+ | studied. If the robots have the ability to be self-reconfigurable, then they will be able to change their | ||
+ | shapes and topology in order to select the best gait for every terrain and negotiate with different tasks. | ||
+ | |||
+ | One kind of bio-inspired controllers for mobile robots used in the last decade are based on '''CPG''' | ||
+ | (Central pattern generators), which are a specialized neurons that produce rhythms for controlling the | ||
+ | muscle activities of animals. In the steady state CPG behave like fixed-frequency oscillators. For that | ||
+ | reason, they can be replaced by a simplified model like sinusoidal generators. The main advantage is | ||
+ | that '''they are extremely simple to implement''' and requires very few computing resources. Therefore, | ||
+ | they can be implemented in low-end inexpensive microcontrollers. Moreover, the generators can also | ||
+ | be realized directly as hardware components using either digital or analog electronics. | ||
+ | |||
+ | In this dissertation '''a general classification of modular robots is established based on their topologies | ||
+ | and types of connection'''. The hypothesis of using sinusoidal generators for controlling the locomotion | ||
+ | of 1D pitch-pitch and pitch-yaw modular robots of any length is raised. The results show that this sim- | ||
+ | ple model is efficient and the gaits obtained are natural and smooth. It is shown that at least they can | ||
+ | move in five different movements. Some of them are totally new and have not been previously studied | ||
+ | or implemented by other researchers, from the best of our knowledge. In addition, the relationships | ||
+ | between the generator’s parameters and the robot kinematics have been obtained. | ||
+ | |||
+ | Another problem is to find '''the minimal configurations for locomotion''', which are the modular robots | ||
+ | within the studied groups that have the minimum number of modules and are still capable of moving | ||
+ | in one and two dimensions. This problem has been solved and the two minimal configurations are | ||
+ | presented. Their kinematics models are studied throughout too. | ||
+ | |||
+ | The experiments confirm that the solutions found to the coordination problem are valid for the loco- | ||
+ | motion of real mobile modular robots. Four kinds of modular robotic prototypes have been built using | ||
+ | the identical '''Y1 modules''', which have been designed specifically for this thesis. | ||
+ | |||
+ | Finally the knowledge about the locomotion of pitch-pitch and pitch-yaw connecting modular robots | ||
+ | has been summarized in '''27 key principles'''. | ||
+ | |||
== Licencia == | == Licencia == |
Revisión del 11:34 4 dic 2008
Contenido
Robótica Modular y Locomoción: Aplicación a Robots Ápodos
- Descripción: Tesis Doctoral, con mención Europea
- Autor: Juan González Gómez
- Director: Dr. Eduardo Boemo Scalvinoni
- Calificación: Sobresaliente cum laude por unanimidad
- Universidad: Escuela Politécnica Superior. Universidad Autónoma de Madrid
- Fecha de la defensa: 21-Noviembre-2008
- Tribunal:
- Presidente: Dr. Vicente Matellán, Universidad de León
- Vocal: Dra. Cristina Urdiales, Universidad de Málaga
- Vocal: Dr. Jose María Cañas, Universidad Rey Juan Carlos
- Vocal: Dr. Houxiang Zhang, Universidad de Hamburgo (Alemania)
- Secretario: Dr. Miguel Ángel García García, Universidad Autónoma de Madrid
- Evaluadores Europeos:
- Dr. Jianwei Zhang, Universidad de Hamburgo (Alemania)
- Dr. Andrés Pérez-Uribe, Universidad de Canton du Vaud (Suiza)
- Evaluador del departamento de Ingeniería Informática de la UAM
- Dr. Francisco Gómez Arribas, Universidad Autónoma de Madrid
Resumen
Esta tesis se enmarca dentro del área de la locomoción de robots modulares y se centra específicamente en el estudio de las configuraciones con topología de una dimensión, que denominamos robots ápodos. El problema a resolver es cómo coordinar el movimiento de las articulaciones de estos robots para que puedan desplazarse tanto en una como en dos dimensiones.
Uno de los grandes retos es el desarrollo de un robot lo más versátil posible que sea capaz de desplazarse de un lugar a otro por diversos terrenos, por muy escarpados y abruptos que sean. Esto tiene especial interés en las aplicaciones en las que el entorno no es conocido, como la exploración de las superficies de otros planetas, navegación en entornos hostiles o las operaciones de búsqueda y rescate.
Para aumentar la versatilidad en la locomoción, la robótica modular propone la creación de robots a partir de unos módulos básicos. Cada configuración tendrá unas características locomotivas diferentes que deben ser estudiadas. Si además los módulos son autoconfigurables, los robots podrán seleccionar en cada momento la configuración más óptima para cada entorno.
Un tipo de controladores empleados son los bioinspirados, basados en CPG (Central pattern generators), que son unas neuronas especializadas que producen ritmos que controlan la actividad de los músculos en los seres vivos. En estado estacionario se comportan como osciladores de frecuencia fija lo que permite sustituirlos por un modelo simplificado formado por generadores sinusoidales. La ventaja es que son extremadamente sencillos de implementar y se requieren muy pocos recursos para su realización. Además, se pueden materializar usando diferentes tecnologías: software, circuitos digitales o incluso electrónica analógica.
En esta tesis establecemos una clasificación de los robots modulares según su topología y tipo de conexionado y planteamos la hipótesis de emplear generadores sinusoidales como controladores para la locomoción de los robots ápodos modulares con topología de una dimensión, de los grupos cabeceo-cabeceo y cabeceo-viraje. Los resultados muestran que este modelo simplificado es viable y los movimientos conseguidos son muy suaves y naturales. Los robots se pueden desplazar al menos utilizando cinco modos de caminar diferentes. Algunos de ellos, como el de rotación, son novedosos y no habían sido previamente estudiados ni implementados por otros investigadores, a nuestro leal saber.
Otro problema planteado es el de las configuraciones mínimas. Encontrar los robots de los grupos de estudio con el menor número posible de módulos y que se pueden desplazar en una y dos dimensiones. Se han encontrado las dos configuraciones mínimas capaces de ellos y las relaciones entre sus parámetros.
Se ha demostrado que las soluciones encontradas al problema de la coordinación son válidas para su utilización en robots reales. Han sido probadas en cuatro prototipos de robots ápodos construidos a partir de la unión de los módulos Y1, diseñados específicamente para esta tesis. La verificación para robots con diferente número de módulos se ha realizado utilizando el simulador desarrollado.
Por último se ha resumido el conocimiento sobre la locomoción de los robots ápodos de los grupos de estudio en 27 principios fundamentales.
Abstract
This dissertation discusses the locomotion of modular robots. It is focused specifically on the study of 1D topology configurations (called snakes or limbless robots). The problem to solve is how to coordinate the joint’s movement so that modular robots can move both in one and two dimensions.
A big challenge in robotics is the development of a very versatile robot with the full capability of moving on different terrains. This is especially important in applications where the environment is unknown in advance, such as the exploration of other planet’s surfaces, navigation in hostile environ- ments and search and rescue operations.
Modular robotics offers the promise of increasing the versatility in locomotion by means of building robots from basic modules. Each configuration has its own locomotive characteristics that should be studied. If the robots have the ability to be self-reconfigurable, then they will be able to change their shapes and topology in order to select the best gait for every terrain and negotiate with different tasks.
One kind of bio-inspired controllers for mobile robots used in the last decade are based on CPG (Central pattern generators), which are a specialized neurons that produce rhythms for controlling the muscle activities of animals. In the steady state CPG behave like fixed-frequency oscillators. For that reason, they can be replaced by a simplified model like sinusoidal generators. The main advantage is that they are extremely simple to implement and requires very few computing resources. Therefore, they can be implemented in low-end inexpensive microcontrollers. Moreover, the generators can also be realized directly as hardware components using either digital or analog electronics.
In this dissertation a general classification of modular robots is established based on their topologies and types of connection. The hypothesis of using sinusoidal generators for controlling the locomotion of 1D pitch-pitch and pitch-yaw modular robots of any length is raised. The results show that this sim- ple model is efficient and the gaits obtained are natural and smooth. It is shown that at least they can move in five different movements. Some of them are totally new and have not been previously studied or implemented by other researchers, from the best of our knowledge. In addition, the relationships between the generator’s parameters and the robot kinematics have been obtained.
Another problem is to find the minimal configurations for locomotion, which are the modular robots within the studied groups that have the minimum number of modules and are still capable of moving in one and two dimensions. This problem has been solved and the two minimal configurations are presented. Their kinematics models are studied throughout too.
The experiments confirm that the solutions found to the coordination problem are valid for the loco- motion of real mobile modular robots. Four kinds of modular robotic prototypes have been built using the identical Y1 modules, which have been designed specifically for this thesis.
Finally the knowledge about the locomotion of pitch-pitch and pitch-yaw connecting modular robots has been summarized in 27 key principles.
Licencia
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Descargar
Documentación
Fichero | Descripción |
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Tesis-Juan-Gonzalez-Gomez.pdf | Tesis, en formato PDF |
Tesis-JGG-fuentes.tar.gz | Fuentes de la Tesis. Hecha con Lyx 1.4.3. Dibujos con Inkscape 0.44 |
tesis-JGG-transparencias.pdf | Transparencias de la presentación, en formato PDF |
Tesis-JGG-transparencias-src.odp | Fuentes de las transparencias. Hechas con OpenOffice 2.0.4 |
Tesis-JGG-transparencias-figuras.zip | Fuentes de las figuras de la presentación. Hechas con Inkscape 0.44
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Informes
Nombre | Descarga |
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Prof. Dr. Eduardo Boemo Scalvinoni | (PDF ) (ODT) |
Prof. Dr. Francisco Gómez | (PDF ) |
Prof. Dr. Jianwei Zhang | (PDF ) (ODT) |
Prof. Dr. Andrés Pérez-Uribe | (PDF ) |
Prototipos construidos
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Modulos y1 | Cube Revolutions | Hypercube | MiniCube |
Videos
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VER VIDEO Locomoción en 1D |
VER VIDEO Locomoción en 1D |
VER VIDEO Locomoción en 2D |
VER VIDEO Locomoción en 2D |
Cuaderno de Bitácora
Noticias
- 02/Dic/2008: Añadido enlace a la bitácora de la lectura
- 27/Nov/2008: Primera version de esta página